From c7650f1be1d698c7ae87b2dd9535f73af7ee7bae Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Thu, 27 Feb 2025 11:20:13 +0100
Subject: [PATCH] ESP32 ant following trail

---
 Participant.cpp         | 16 +++++++++++-----
 Participant.h           |  6 +++---
 Sensors/TouchSensor.cpp |  1 +
 3 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/Participant.cpp b/Participant.cpp
index c764bd2..f25e40e 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -120,20 +120,23 @@ RemoteParticipant* Participant::AddParticipant(const char* ipAddress, int port)
 
 #pragma region Send
 
-void Participant::SendThingInfo(RemoteParticipant* owner, Thing* thing) {
+void Participant::SendThingInfo(RemoteParticipant* remoteParticipant, Thing* thing) {
   std::cout << "Send thing info " << (int)thing->id << " \n";
   ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
-  this->Send(owner, thingMsg);
+  this->Send(remoteParticipant, thingMsg);
   delete thingMsg;
   NameMsg* nameMsg = new NameMsg(this->networkId, thing);
-  this->Send(owner, nameMsg);
+  this->Send(remoteParticipant, nameMsg);
   delete nameMsg;
   ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
-  this->Send(owner, modelMsg);
+  this->Send(remoteParticipant, modelMsg);
   delete modelMsg;
   PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
-  this->Send(owner, poseMsg);
+  this->Send(remoteParticipant, poseMsg);
   delete poseMsg;
+  BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
+  this->Send(remoteParticipant, customMsg);
+  delete customMsg;
 }
 
 bool Participant::Send(RemoteParticipant* remoteParticipant, IMessage* msg) {
@@ -166,6 +169,9 @@ void Participant::PublishThingInfo(Thing* thing) {
   ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
   this->Publish(modelMsg);
   delete modelMsg;
+  PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
+  this->Publish(poseMsg);
+  delete poseMsg;
   BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
   this->Publish(customMsg);
   delete customMsg;
diff --git a/Participant.h b/Participant.h
index 31685fd..e467e6e 100644
--- a/Participant.h
+++ b/Participant.h
@@ -4,9 +4,9 @@
 #include "Messages/InvestigateMsg.h"
 #include "Messages/ModelUrlMsg.h"
 #include "Messages/NameMsg.h"
-#include "Messages/SiteMsg.h"
 #include "Messages/ParticipantMsg.h"
 #include "Messages/PoseMsg.h"
+#include "Messages/SiteMsg.h"
 #include "Messages/ThingMsg.h"
 #include "RemoteParticipant.h"
 
@@ -33,7 +33,7 @@ class Participant : public RemoteParticipant {
 
   const char* name = "Participant";
 
-  //int localPort = 0;
+  // int localPort = 0;
   RemoteParticipant* site = nullptr;
 
 #if defined(ARDUINO)
@@ -72,9 +72,9 @@ class Participant : public RemoteParticipant {
   void ReceiveData(unsigned char bufferSize, char* senderIpAddress, unsigned int senderPort);
   void ReceiveData(unsigned char bufferSize, RemoteParticipant* remoteParticipant);
 
- protected:
   std::list<RemoteParticipant*> senders;
 
+ protected:
   unsigned long nextPublishMe = 0;
 
   void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
diff --git a/Sensors/TouchSensor.cpp b/Sensors/TouchSensor.cpp
index aca6123..f4e9976 100644
--- a/Sensors/TouchSensor.cpp
+++ b/Sensors/TouchSensor.cpp
@@ -13,6 +13,7 @@ TouchSensor::TouchSensor(RemoteParticipant* participant) : Thing(participant) {
 // }
 
 void TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {}
+
 void TouchSensor::ProcessBinary(char* bytes) {
   this->touchedSomething = (bytes[0] == 1);
   // if (this->touchedSomething)