Added temp sensor support

CMakeLists.txt

@@ -27,7 +27,7 @@ else()
         .
         LinearAlgebra
     )
-    file(GLOB srcs *.cpp)
+    file(GLOB srcs *.cpp Sensors/*.cpp)
     add_library(ControlCore STATIC ${srcs})
     
     enable_testing()

ClientMsg.h

@@ -1,3 +1,5 @@
+#pragma once
+
 #include "Messages.h"
 
 namespace Passer {

Messages.cpp

@@ -112,7 +112,7 @@ CustomMsg::CustomMsg(char *buffer) {
   unsigned char ix = 1;
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
-  this->data =
+  this->bytes =
       buffer + ix; // This is only valid because the code ensures the the msg
                    // lifetime is shorter than the buffer lifetime...
 }

Messages.h

@@ -71,8 +71,8 @@ public:
   unsigned char thingId;
   Thing *thing;
 
-  unsigned char dataSize;
+  unsigned char bytesSize;
-  char *data;
+  char *bytes;
 
   CustomMsg(char *buffer);
   CustomMsg(unsigned char networkId, Thing *thing);

Participant.cpp

@@ -174,20 +174,24 @@ void Participant::ReceiveData(unsigned char bufferSize,
     delete msg;
   } break;
   case InvestigateMsg::id: {
-    InvestigateMsg msg = InvestigateMsg(this->buffer);
+    InvestigateMsg *msg = new InvestigateMsg(this->buffer);
-    ProcessInvestigateMsg(msg);
+    Process(msg);
+    delete msg;
   } break;
   case ThingMsg::id: {
-    ThingMsg msg = ThingMsg(this->buffer);
+    ThingMsg *msg = new ThingMsg(this->buffer);
-    ProcessThingMsg(msg);
+    Process(msg);
+    delete msg;
   } break;
   case PoseMsg::id: {
-    PoseMsg msg = PoseMsg(this->buffer);
+    PoseMsg *msg = new PoseMsg(this->buffer);
-    ProcessPoseMsg(msg);
+    Process(msg);
+    delete msg;
   } break;
   case CustomMsg::id: {
-    CustomMsg msg = CustomMsg(this->buffer);
+    CustomMsg *msg = new CustomMsg(this->buffer);
-    ProcessCustomMsg(msg);
+    Process(msg);
+    delete msg;
   } break;
   };
 }
@@ -213,13 +217,17 @@ void Participant::Process(Participant *sender, NetworkIdMsg *msg) {
   }
 }
 
-void Participant::ProcessInvestigateMsg(InvestigateMsg msg) {}
+void Participant::Process(InvestigateMsg *msg) {}
 
-void Participant::ProcessThingMsg(ThingMsg msg) {}
+void Participant::Process(ThingMsg *msg) {}
 
-void Passer::Control::Participant::ProcessPoseMsg(PoseMsg msg) {}
+void Participant::Process(PoseMsg *msg) {}
 
-void Participant::ProcessCustomMsg(CustomMsg msg) {}
+void Participant::Process(CustomMsg *msg) {
+  Thing *thing = Thing::Get(msg->networkId, msg->thingId);
+  if (thing != nullptr)
+    thing->ProcessBytes(msg->bytes);
+}
 
 // Receive
 #pragma endregion

Participant.h

@@ -85,10 +85,10 @@ protected:
 
   virtual void Process(Participant *sender, ClientMsg *msg);
   virtual void Process(Participant *sender, NetworkIdMsg *msg);
-  virtual void ProcessInvestigateMsg(InvestigateMsg msg);
+  virtual void Process(InvestigateMsg *msg);
-  virtual void ProcessThingMsg(ThingMsg msg);
+  virtual void Process(ThingMsg *msg);
-  virtual void ProcessPoseMsg(PoseMsg msg);
+  virtual void Process(PoseMsg *msg);
-  virtual void ProcessCustomMsg(CustomMsg msg);
+  virtual void Process(CustomMsg *msg);
 };
 
 } // namespace Control

Sensors/TemperatureSensor.cpp

@@ -5,7 +5,11 @@
 namespace Passer {
 namespace Control {
 
-TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
+// TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
+
+TemperatureSensor::TemperatureSensor(unsigned char networkId,
+                                     unsigned char thingId)
+    : Thing(nullptr, networkId, thingId, Type::TemperatureSensor) {}
 
 void TemperatureSensor::SetTemperature(float temp) { this->temp = temp; }
 

Sensors/TemperatureSensor.h

@@ -7,7 +7,7 @@ namespace Control {
 
 class TemperatureSensor : public Thing {
 public:
-  TemperatureSensor();
+  TemperatureSensor(unsigned char networkId, unsigned char thingId);
 
   virtual void SetTemperature(float temp);
 

SiteServer.cpp

@@ -1,6 +1,11 @@
 #include "SiteServer.h"
 
-Passer::Control::SiteServer::SiteServer(int port) {
+#include "Sensors/TemperatureSensor.h"
+
+namespace Passer {
+namespace Control {
+
+SiteServer::SiteServer(int port) {
   this->name = "Site Server";
 
   this->ipAddress = "0.0.0.0";
@@ -11,21 +16,37 @@ Passer::Control::SiteServer::SiteServer(int port) {
   SetupUDP(port, ipAddress, 0);
 }
 
-void Passer::Control::SiteServer::Update(unsigned long currentTimeMs) {
+void SiteServer::Update(unsigned long currentTimeMs) {
   this->ReceiveUDP();
   Thing::UpdateAll(currentTimeMs);
 }
 
-void Passer::Control::SiteServer::Process(Participant *sender, ClientMsg *msg) {
+void SiteServer::Process(Participant *sender, ClientMsg *msg) {
   if (msg->networkId == 0) {
-    std::cout << this->name << " received New Client -> "
+    std::cout << this->name << " received New Client -> " << sender->ipAddress
-              << sender->ipAddress << "  "
+              << "  " << (int)sender->networkId << "\n";
-              << (int)sender->networkId << "\n";
+    NetworkIdMsg *msg = new NetworkIdMsg(sender->networkId);
-    NetworkIdMsg* msg = new NetworkIdMsg(sender->networkId);
     sender->Send(msg);
     delete msg;
   }
 }
 
-void Passer::Control::SiteServer::Process(Participant *sender,
+void SiteServer::Process(Participant *sender, NetworkIdMsg *msg) {}
-                                          NetworkIdMsg *msg) {}
+
+void SiteServer::Process(ThingMsg *msg) {
+  Thing *thing = Thing::Get(msg->networkId, msg->thingId);
+  if (thing == nullptr) {
+    switch ((Thing::Type)msg->thingType) {
+    case Thing::Type::TemperatureSensor:
+      new TemperatureSensor(msg->networkId, msg->thingId);
+      break;
+    default:
+      new Thing(this, msg->networkId, msg->thingId,
+                (Thing::Type)msg->thingType);
+      break;
+    }
+  }
+}
+
+} // namespace Control
+} // namespace Passer

SiteServer.h

@@ -17,6 +17,7 @@ protected:
 
   virtual void Process(Participant *sender, ClientMsg *msg) override;
   virtual void Process(Participant *sender, NetworkIdMsg *msg) override;
+  virtual void Process(ThingMsg *msg) override;
 };
 
 } // namespace Control

Thing.cpp

@@ -28,6 +28,26 @@ Thing::Thing(unsigned char thingType) {
   this->angularVelocity = Spherical16::zero;
 }
 
+Passer::Control::Thing::Thing(Participant *participant, unsigned char networkId,
+                              unsigned char thingId, Type thingType) {
+  // no participant reference yet..
+  this->networkId = networkId;
+  this->id = thingId;
+  this->type = (unsigned char)thingType;
+  this->Init();
+
+  thingId = Thing::Add(this);
+
+  if (thingId < 0) {
+    std::cout << "ERROR: Thing store is full\n";
+    this->id = 0; // what to do when we cannot store any more things?
+  } else
+    this->id = thingId;
+
+  this->linearVelocity = Spherical16::zero;
+  this->angularVelocity = Spherical16::zero;
+}
+
 void Thing::Terminate() { Thing::Remove(this); }
 
 void Thing::Init() {}

Thing.h

@@ -7,6 +7,8 @@
 namespace Passer {
 namespace Control {
 
+class Participant;
+
 #define THING_STORE_SIZE 256
 // IMPORTANT: values higher than 256 will need to change the Thing::id type
 // to 16-bit or higher, breaking the networking protocol!
@@ -39,6 +41,8 @@ public:
 
   Thing(Type thingType = Type::Undetermined);
   Thing(unsigned char thingType);
+  Thing(Participant *participant, unsigned char networkId,
+        unsigned char thingId, Type thingType = Type::Undetermined);
 
   Thing *FindThing(const char *name);
   //  Thing *FindChild(unsigned char id);