Refactoring

Arduino/ArduinoParticipant.cpp

@@ -1,4 +1,4 @@
-#include "Participant.h"
+#include "ArduinoParticipant.h"
 
 #if defined(ARDUINO)
 #if defined(ARDUINO_ARCH_ESP8266)
@@ -19,7 +19,7 @@
 namespace RoboidControl {
 namespace Arduino {
 
-void Participant::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
+void LocalParticipant::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 #if defined(ARDUINO)
   this->remoteIpAddress = remoteIpAddress;
   this->remotePort = remotePort;
@@ -42,7 +42,7 @@ void Participant::Setup(int localPort, const char* remoteIpAddress, int remotePo
 #endif
 }
 
-void Participant::GetBroadcastAddress() {
+void LocalParticipant::GetBroadcastAddress() {
 #if defined(ARDUINO)
   IPAddress broadcastAddress = WiFi.localIP();
   broadcastAddress[3] = 255;
@@ -53,7 +53,7 @@ void Participant::GetBroadcastAddress() {
 #endif
 }
 
-void Participant::Receive() {
+void LocalParticipant::Receive() {
 #if defined(ARDUINO)
   int packetSize = udp.parsePacket();
   while (packetSize > 0) {
@@ -64,7 +64,7 @@ void Participant::Receive() {
     senderAddress.toCharArray(sender_ipAddress, 16);
     unsigned int sender_port = udp.remotePort();
 
-    // RemoteParticipant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
+    // Participant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
     // if (remoteParticipant == nullptr) {
     //   remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
     //   // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
@@ -81,7 +81,7 @@ void Participant::Receive() {
 #endif
 }
 
-bool Participant::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
+bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(ARDUINO)
   // std::cout << "Sending to:\n " << remoteParticipant->ipAddress << ":"
   // << remoteParticipant->port << "\n";
@@ -101,7 +101,7 @@ bool Participant::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
   return true;
 }
 
-bool Participant::Publish(IMessage* msg) {
+bool LocalParticipant::Publish(IMessage* msg) {
 #ifdef ARDUINO
   int bufferSize = msg->Serialize((char*)this->buffer);
   if (bufferSize <= 0)

Arduino/ArduinoParticipant.h

@@ -1,15 +1,15 @@
 #pragma once
 
-#include "../Participant.h"
+#include "../LocalParticipant.h"
 
 namespace RoboidControl {
 namespace Arduino {
 
-class Participant : public RoboidControl::Participant {
+class LocalParticipant : public RoboidControl::LocalParticipant {
  public:
   void Setup(int localPort, const char* remoteIpAddress, int remotePort);
   void Receive();
-  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
+  bool Send(Participant* remoteParticipant, int bufferSize);
   bool Publish(IMessage* msg);
 
  protected:

Arduino/Sensors/DigitalInput.cpp

@@ -5,7 +5,7 @@
 namespace RoboidControl {
 namespace Arduino {
 
-DigitalInput::DigitalInput(RemoteParticipant* participant, unsigned char pin) : TouchSensor(participant) {
+DigitalInput::DigitalInput(Participant* participant, unsigned char pin) : TouchSensor(participant) {
     this->pin = pin;
 
     pinMode(pin, INPUT);

Arduino/Sensors/DigitalInput.h

@@ -7,7 +7,7 @@ namespace Arduino {
 
 class DigitalInput : public TouchSensor {
  public:
-  DigitalInput(RemoteParticipant* participant, unsigned char pin);
+  DigitalInput(Participant* participant, unsigned char pin);
 
   virtual void Update(unsigned long currentTimeMs) override;
 

Arduino/Sensors/UltrasonicSensor.cpp

@@ -5,7 +5,7 @@
 namespace RoboidControl {
 namespace Arduino {
 
-UltrasonicSensor::UltrasonicSensor(RemoteParticipant* participant, unsigned char pinTrigger, unsigned char pinEcho)
+UltrasonicSensor::UltrasonicSensor(Participant* participant, unsigned char pinTrigger, unsigned char pinEcho)
     : TouchSensor(participant) {
   this->pinTrigger = pinTrigger;
   this->pinEcho = pinEcho;

Arduino/Sensors/UltrasonicSensor.h

@@ -7,7 +7,7 @@ namespace Arduino {
 
 class UltrasonicSensor : public TouchSensor {
  public:
-  UltrasonicSensor(RemoteParticipant* participant, unsigned char pinTrigger, unsigned char pinEcho);
+  UltrasonicSensor(Participant* participant, unsigned char pinTrigger, unsigned char pinEcho);
 
   // parameters
 

LocalParticipant.cpp

@@ -0,0 +1,299 @@
+#include "LocalParticipant.h"
+
+#include "Thing.h"
+
+#include "Arduino/ArduinoParticipant.h"
+#include "Posix/PosixParticipant.h"
+#include "Windows/WindowsParticipant.h"
+
+#if defined(_WIN32) || defined(_WIN64)
+#include <winsock2.h>
+#include <ws2tcpip.h>
+#pragma comment(lib, "ws2_32.lib")
+#elif defined(__unix__) || defined(__APPLE__)
+#include <arpa/inet.h>
+#include <fcntl.h>  // For fcntl
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+#include <chrono>
+#endif
+
+namespace RoboidControl {
+
+// LocalParticipant::LocalParticipant() {}
+
+LocalParticipant::LocalParticipant(int port) {
+  this->ipAddress = "0.0.0.0";
+  this->port = port;
+}
+
+LocalParticipant::LocalParticipant(const char* ipAddress, int port) {
+  this->ipAddress = ipAddress;  // maybe this is not needed anymore, keeping it to "0.0.0.0"
+  this->port = port;
+  this->site = new Participant(ipAddress, port);
+}
+
+void LocalParticipant::begin() {
+  SetupUDP(this->port, this->ipAddress, this->port);
+}
+
+void LocalParticipant::SetupUDP(int localPort, const char* remoteIpAddress, int remotePort) {
+#if defined(_WIN32) || defined(_WIN64)
+  Windows::LocalParticipant* thisWindows = static_cast<Windows::LocalParticipant*>(this);
+  thisWindows->Setup(localPort, remoteIpAddress, remotePort);
+#elif defined(__unix__) || defined(__APPLE__)
+  Posix::LocalParticipant* thisPosix = static_cast<Posix::LocalParticipant*>(this);
+  thisPosix->Setup(localPort, remoteIpAddress, remotePort);
+#elif defined(ARDUINO)
+  Arduino::LocalParticipant* thisArduino = static_cast<Arduino::LocalParticipant*>(this);
+  thisArduino->Setup(localPort, remoteIpAddress, remotePort);
+#endif
+  this->connected = true;
+}
+
+void LocalParticipant::Update(unsigned long currentTimeMs) {
+  if (currentTimeMs == 0) {
+#if defined(ARDUINO)
+    currentTimeMs = millis();
+#elif defined(__unix__) || defined(__APPLE__)
+    auto now = std::chrono::steady_clock::now();
+    auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch());
+    currentTimeMs = static_cast<unsigned long>(ms.count());
+#endif
+  }
+
+  if (this->connected == false)
+    begin();
+
+  if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
+    ParticipantMsg* msg = new ParticipantMsg(this->networkId);
+    if (this->site == nullptr)
+      this->Publish(msg);
+    else
+      this->Send(this->site, msg);
+    delete msg;
+
+    this->nextPublishMe = currentTimeMs + this->publishInterval;
+  }
+  this->ReceiveUDP();
+
+  for (Thing* thing : this->things) {
+    if (thing != nullptr) {
+      thing->Update(currentTimeMs);
+      PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
+      for (Participant* sender : this->senders)
+        this->Send(sender, poseMsg);
+      delete poseMsg;
+    }
+  }
+}
+
+void LocalParticipant::ReceiveUDP() {
+#if defined(_WIN32) || defined(_WIN64)
+  Windows::LocalParticipant* thisWindows = static_cast<Windows::LocalParticipant*>(this);
+  thisWindows->Receive();
+#elif defined(__unix__) || defined(__APPLE__)
+  Posix::LocalParticipant* thisPosix = static_cast<Posix::LocalParticipant*>(this);
+  thisPosix->Receive();
+#elif defined(ARDUINO)
+  Arduino::LocalParticipant* thisArduino = static_cast<Arduino::LocalParticipant*>(this);
+  thisArduino->Receive();
+#endif
+}
+
+Participant* LocalParticipant::GetParticipant(const char* ipAddress, int port) {
+  for (Participant* sender : this->senders) {
+    if (strcmp(sender->ipAddress, ipAddress) == 0 && sender->port == port)
+      return sender;
+  }
+  return nullptr;
+}
+
+Participant* LocalParticipant::AddParticipant(const char* ipAddress, int port) {
+  std::cout << "New LocalParticipant " << ipAddress << ":" << port << "\n";
+  Participant* participant = new Participant(ipAddress, port);
+  participant->networkId = (unsigned char)this->senders.size();
+  this->senders.push_back(participant);
+  return participant;
+}
+
+#pragma region Send
+
+void LocalParticipant::SendThingInfo(Participant* remoteParticipant, Thing* thing) {
+  std::cout << "Send thing info " << (int)thing->id << " \n";
+  ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
+  this->Send(remoteParticipant, thingMsg);
+  delete thingMsg;
+  NameMsg* nameMsg = new NameMsg(this->networkId, thing);
+  this->Send(remoteParticipant, nameMsg);
+  delete nameMsg;
+  ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
+  this->Send(remoteParticipant, modelMsg);
+  delete modelMsg;
+  PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
+  this->Send(remoteParticipant, poseMsg);
+  delete poseMsg;
+  BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
+  this->Send(remoteParticipant, customMsg);
+  delete customMsg;
+}
+
+bool LocalParticipant::Send(Participant* remoteParticipant, IMessage* msg) {
+  int bufferSize = msg->Serialize(this->buffer);
+  if (bufferSize <= 0)
+    return true;
+
+#if defined(_WIN32) || defined(_WIN64)
+  Windows::LocalParticipant* thisWindows = static_cast<Windows::LocalParticipant*>(this);
+  return thisWindows->Send(remoteParticipant, bufferSize);
+#elif defined(__unix__) || defined(__APPLE__)
+  Posix::LocalParticipant* thisPosix = static_cast<Posix::LocalParticipant*>(this);
+  return thisPosix->Send(remoteParticipant, bufferSize);
+#elif defined(ARDUINO)
+  Arduino::LocalParticipant* thisArduino = static_cast<Arduino::LocalParticipant*>(this);
+  return thisArduino->Send(remoteParticipant, bufferSize);
+#endif
+}
+
+void LocalParticipant::PublishThingInfo(Thing* thing) {
+  // std::cout << "Publish thing info" << thing->networkId << "\n";
+  //  Strange, when publishing, the network id is irrelevant, because it is
+  //  connected to a specific site...
+  ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
+  this->Publish(thingMsg);
+  delete thingMsg;
+  NameMsg* nameMsg = new NameMsg(this->networkId, thing);
+  this->Publish(nameMsg);
+  delete nameMsg;
+  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;
+}
+
+bool LocalParticipant::Publish(IMessage* msg) {
+#if defined(_WIN32) || defined(_WIN64)
+  Windows::LocalParticipant* thisWindows = static_cast<Windows::LocalParticipant*>(this);
+  return thisWindows->Publish(msg);
+#elif defined(__unix__) || defined(__APPLE__)
+  Posix::LocalParticipant* thisPosix = static_cast<Posix::LocalParticipant*>(this);
+  return thisPosix->Publish(msg);
+#elif defined(ARDUINO)
+  Arduino::LocalParticipant* thisArduino = static_cast<Arduino::LocalParticipant*>(this);
+  return thisArduino->Publish(msg);
+#endif
+}
+
+// Send
+#pragma endregion
+
+#pragma region Receive
+
+void LocalParticipant::ReceiveData(unsigned char packetSize, char* senderIpAddress, unsigned int senderPort) {
+  Participant* remoteParticipant = this->GetParticipant(senderIpAddress, senderPort);
+  if (remoteParticipant == nullptr) {
+    remoteParticipant = this->AddParticipant(senderIpAddress, senderPort);
+    // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
+    //           << "\n";
+    // std::cout << "New remote participant " << remoteParticipant->ipAddress
+    //           << ":" << remoteParticipant->port << " "
+    //           << (int)remoteParticipant->networkId << "\n";
+  }
+
+  ReceiveData(packetSize, remoteParticipant);
+}
+
+void LocalParticipant::ReceiveData(unsigned char bufferSize, Participant* remoteParticipant) {
+  unsigned char msgId = this->buffer[0];
+  // std::cout << "receive msg " << (int)msgId << "\n";
+  switch (msgId) {
+    case ParticipantMsg::id: {
+      ParticipantMsg* msg = new ParticipantMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case SiteMsg::id: {
+      SiteMsg* msg = new SiteMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case InvestigateMsg::id: {
+      InvestigateMsg* msg = new InvestigateMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case ThingMsg::id: {
+      ThingMsg* msg = new ThingMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case NameMsg::id: {
+      NameMsg* msg = new NameMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case PoseMsg::id: {
+      PoseMsg* msg = new PoseMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+    case BinaryMsg::id: {
+      BinaryMsg* msg = new BinaryMsg(this->buffer);
+      Process(remoteParticipant, msg);
+      delete msg;
+    } break;
+  };
+}
+
+void LocalParticipant::Process(Participant* sender, ParticipantMsg* msg) {}
+
+void LocalParticipant::Process(Participant* sender, SiteMsg* msg) {
+  std::cout << this->name << ": process NetworkId [" << (int)this->networkId << "/" << (int)msg->networkId << "]\n";
+  if (this->networkId != msg->networkId) {
+    this->networkId = msg->networkId;
+    std::cout << this->things.size() << " things\n";
+    for (Thing* thing : this->things)
+      this->SendThingInfo(sender, thing);
+  }
+}
+
+void LocalParticipant::Process(Participant* sender, InvestigateMsg* msg) {}
+
+void LocalParticipant::Process(Participant* sender, ThingMsg* msg) {}
+
+void LocalParticipant::Process(Participant* sender, NameMsg* msg) {
+  Thing* thing = sender->Get(msg->networkId, msg->thingId);
+  if (thing != nullptr) {
+    int nameLength = msg->nameLength;
+    int stringLen = nameLength + 1;
+    char* thingName = new char[stringLen];
+    // Use strncpy with bounds checking for other platforms (Arduino, POSIX, ESP-IDF)
+    strncpy(thingName, msg->name, stringLen - 1);  // Leave space for null terminator
+    thingName[nameLength] = '\0';
+    thing->name = thingName;
+    std::cout << "thing name = " << thing->name << " length = " << nameLength << "\n";
+  }
+}
+
+void LocalParticipant::Process(Participant* sender, PoseMsg* msg) {}
+
+void LocalParticipant::Process(Participant* sender, BinaryMsg* msg) {
+  // std::cout << this->name << ": process Binary [" << (int)this->networkId << "/"
+  //           << (int)msg->networkId << "]\n";
+  Thing* thing = sender->Get(msg->networkId, msg->thingId);
+  if (thing != nullptr)
+    thing->ProcessBinary(msg->bytes);
+  else
+    std::cout << "custom msg for unknown thing [" << (int)msg->networkId << "/" << (int)msg->thingId << "]\n";
+}
+
+// Receive
+#pragma endregion
+
+}  // namespace RoboidControl

LocalParticipant.h

@@ -0,0 +1,96 @@
+#pragma once
+
+#include "Messages/BinaryMsg.h"
+#include "Messages/InvestigateMsg.h"
+#include "Messages/ModelUrlMsg.h"
+#include "Messages/NameMsg.h"
+#include "Messages/ParticipantMsg.h"
+#include "Messages/PoseMsg.h"
+#include "Messages/SiteMsg.h"
+#include "Messages/ThingMsg.h"
+#include "Participant.h"
+
+#include <list>
+
+#if defined(_WIN32) || defined(_WIN64)
+#include <winsock2.h>
+#elif defined(__unix__) || defined(__APPLE__)
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <unistd.h>
+#elif defined(ARDUINO)
+#include <WiFiUdp.h>
+#endif
+
+namespace RoboidControl {
+
+/// @brief A participant is device which can communicate with other participants
+class LocalParticipant : public Participant {
+ public:
+  char buffer[1024];
+  long publishInterval = 3000;  // 3 seconds
+
+  const char* name = "LocalParticipant";
+
+  // int localPort = 0;
+  Participant* site = nullptr;
+
+#if defined(ARDUINO)
+  const char* remoteIpAddress = nullptr;
+  unsigned short remotePort = 0;
+  char* broadcastIpAddress = nullptr;
+
+  WiFiUDP udp;
+#else
+
+#if defined(_WIN32) || defined(_WIN64)
+  SOCKET sock;
+#elif defined(__unix__) || defined(__APPLE__)
+  int sock;
+#endif
+  sockaddr_in remote_addr;
+  sockaddr_in server_addr;
+  sockaddr_in broadcast_addr;
+
+#endif
+
+  LocalParticipant(int port = 7681);
+  LocalParticipant(const char* ipAddress, int port = 7681);
+
+  void begin();
+  bool connected = false;
+
+  virtual void Update(unsigned long currentTimeMs = 0);
+
+  void SendThingInfo(Participant* remoteParticipant, Thing* thing);
+  void PublishThingInfo(Thing* thing);
+
+  bool Send(Participant* remoteParticipant, IMessage* msg);
+  bool Publish(IMessage* msg);
+
+  void ReceiveData(unsigned char bufferSize, char* senderIpAddress, unsigned int senderPort);
+  void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
+
+  std::list<Participant*> senders;
+
+ protected:
+  unsigned long nextPublishMe = 0;
+
+  void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
+
+  Participant* GetParticipant(const char* ipAddress, int port);
+  Participant* AddParticipant(const char* ipAddress, int port);
+
+  void ReceiveUDP();
+
+  virtual void Process(Participant* sender, ParticipantMsg* msg);
+  virtual void Process(Participant* sender, SiteMsg* msg);
+  virtual void Process(Participant* sender, InvestigateMsg* msg);
+  virtual void Process(Participant* sender, ThingMsg* msg);
+  virtual void Process(Participant* sender, NameMsg* msg);
+  virtual void Process(Participant* sender, PoseMsg* msg);
+  virtual void Process(Participant* sender, BinaryMsg* msg);
+};
+
+}  // namespace RoboidControl

Messages/Messages.cpp

@@ -1,7 +1,7 @@
 #include "Messages.h"
 
 #include "LowLevelMessages.h"
-#include "Participant.h"
+//#include "Participant.h"
 #include "string.h"
 
 namespace RoboidControl {
@@ -18,15 +18,15 @@ unsigned char IMessage::Serialize(char* buffer) {
   return 0;
 }
 
-// bool IMessage::SendMsg(Participant *client, IMessage msg) {
+// bool IMessage::SendMsg(LocalParticipant *client, IMessage msg) {
 //   // return SendMsg(client, client.buffer, );nameLength
 //   return client->SendBuffer(msg.Serialize(client->buffer));
 // }
 
-// bool IMessage::Publish(Participant *participant) {
+// bool IMessage::Publish(LocalParticipant *participant) {
 //   return participant->PublishBuffer(Serialize(participant->buffer));
 // }
-// bool IMessage::SendTo(Participant *participant) {
+// bool IMessage::SendTo(LocalParticipant *participant) {
 //   return participant->SendBuffer(Serialize(participant->buffer));
 // }
 

Messages/Messages.h

@@ -6,7 +6,7 @@
 
 namespace RoboidControl {
 
-class Participant;
+class LocalParticipant;
 
 class IMessage {
  public:
@@ -15,8 +15,8 @@ class IMessage {
 
   static unsigned char* ReceiveMsg(unsigned char packetSize);
 
-  // bool Publish(Participant *participant);
+  // bool Publish(LocalParticipant *participant);
-  // bool SendTo(Participant *participant);
+  // bool SendTo(LocalParticipant *participant);
 };
 
 }  // namespace RoboidControl

Messages/ParticipantMsg.cpp

@@ -19,7 +19,7 @@ unsigned char ParticipantMsg::Serialize(char* buffer) {
   return ParticipantMsg::length;
 }
 
-// bool ParticipantMsg::Send(Participant *participant, unsigned char networkId) {
+// bool ParticipantMsg::Send(LocalParticipant *participant, unsigned char networkId) {
 //   ParticipantMsg msg = ParticipantMsg()
 // }
 // Client Msg

Participant.cpp

@@ -1,299 +1,73 @@
 #include "Participant.h"
 
-#include "Thing.h"
+#include <string.h>
-
-#include "Arduino/Participant.h"
-#include "Posix/Participant.h"
-#include "Windows/Participant.h"
-
-#if defined(_WIN32) || defined(_WIN64)
-#include <winsock2.h>
-#include <ws2tcpip.h>
-#pragma comment(lib, "ws2_32.lib")
-#elif defined(__unix__) || defined(__APPLE__)
-#include <arpa/inet.h>
-#include <fcntl.h>  // For fcntl
-#include <netinet/in.h>
-#include <sys/socket.h>
-#include <unistd.h>
-#include <chrono>
-#endif
 
 namespace RoboidControl {
 
-// Participant::Participant() {}
+Participant::Participant() {}
-
-Participant::Participant(int port) {
-  this->ipAddress = "0.0.0.0";
-  this->port = port;
-}
 
 Participant::Participant(const char* ipAddress, int port) {
-  this->ipAddress = ipAddress;  // maybe this is not needed anymore, keeping it to "0.0.0.0"
+  // make a copy of the ip address string
+  int addressLength = strlen(ipAddress);
+  int stringLength = addressLength + 1;
+  char* addressString = new char[stringLength];
+  strncpy(addressString, ipAddress, addressLength);
+  addressString[addressLength] = '\0';
+
+  this->ipAddress = addressString;
   this->port = port;
-  this->site = new RemoteParticipant(ipAddress, port);
 }
 
-void Participant::begin() {
+Participant::~Participant() {
-  SetupUDP(this->port, this->ipAddress, this->port);
+  delete[] this->ipAddress;
 }
 
-void Participant::SetupUDP(int localPort, const char* remoteIpAddress, int remotePort) {
+Thing* Participant::Get(unsigned char networkId, unsigned char thingId) {
-#if defined(_WIN32) || defined(_WIN64)
+  for (Thing* thing : this->things) {
-  Windows::Participant* thisWindows = static_cast<Windows::Participant*>(this);
+    //if (thing->networkId == networkId && thing->id == thingId)
-  thisWindows->Setup(localPort, remoteIpAddress, remotePort);
+    if (thing->id == thingId)
-#elif defined(__unix__) || defined(__APPLE__)
+      return thing;
-  Posix::Participant* thisPosix = static_cast<Posix::Participant*>(this);
-  thisPosix->Setup(localPort, remoteIpAddress, remotePort);
-#elif defined(ARDUINO)
-  Arduino::Participant* thisArduino = static_cast<Arduino::Participant*>(this);
-  thisArduino->Setup(localPort, remoteIpAddress, remotePort);
-#endif
-  this->connected = true;
-}
-
-void Participant::Update(unsigned long currentTimeMs) {
-  if (currentTimeMs == 0) {
-#if defined(ARDUINO)
-    currentTimeMs = millis();
-#elif defined(__unix__) || defined(__APPLE__)
-    auto now = std::chrono::steady_clock::now();
-    auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch());
-    currentTimeMs = static_cast<unsigned long>(ms.count());
-#endif
   }
+  //   std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
+  //             << "[" << (int)networkId << "/" << (int)thingId << "]\n";
+  return nullptr;
+}
 
-  if (this->connected == false)
+void Participant::Add(Thing* thing, bool checkId) {
-    begin();
+  if (checkId && thing->id == 0) {
-
+    // allocate a new thing ID
-  if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
+    thing->id = this->things.size() + 1;
-    ParticipantMsg* msg = new ParticipantMsg(this->networkId);
+    this->things.push_back(thing);
-    if (this->site == nullptr)
+    // std::cout << "Add thing with generated ID " << this->ipAddress << ":" << this->port << "[" << (int)thing->networkId << "/"
-      this->Publish(msg);
+    //           << (int)thing->id << "]\n";
-    else
+  } else {
-      this->Send(this->site, msg);
+    Thing* foundThing = Get(thing->networkId, thing->id);
-    delete msg;
+    if (foundThing == nullptr) {
-
+      this->things.push_back(thing);
-    this->nextPublishMe = currentTimeMs + this->publishInterval;
+      // std::cout << "Add thing " << this->ipAddress << ":" << this->port << "[" << (int)thing->networkId << "/"
+      //           << (int)thing->id << "]\n";
+    } 
+    // else
+    //   std::cout << "Did not add, existing thing " << this->ipAddress << ":" << this->port << "["
+    //             << (int)thing->networkId << "/" << (int)thing->id << "]\n";
   }
-  this->ReceiveUDP();
+}
+
+void Participant::Remove(Thing* thing) {
+  this->things.remove_if([thing](Thing* obj) { return obj == thing; });
+  std::cout << "Removing " << thing->networkId << "/" << thing->id << " list size = " << this->things.size() << "\n";
+}
+
+void Participant::UpdateAll(unsigned long currentTimeMs) {
+  // Not very efficient, but it works for now.
 
   for (Thing* thing : this->things) {
-    if (thing != nullptr) {
+    if (thing != nullptr && thing->GetParent() == nullptr) {  // update all root things
+      // std::cout << " update " << (int)ix << " thingid " << (int)thing->id
+      //           << "\n";
       thing->Update(currentTimeMs);
-      PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
-      for (RemoteParticipant* sender : this->senders)
-        this->Send(sender, poseMsg);
-      delete poseMsg;
     }
   }
 }
 
-void Participant::ReceiveUDP() {
-#if defined(_WIN32) || defined(_WIN64)
-  Windows::Participant* thisWindows = static_cast<Windows::Participant*>(this);
-  thisWindows->Receive();
-#elif defined(__unix__) || defined(__APPLE__)
-  Posix::Participant* thisPosix = static_cast<Posix::Participant*>(this);
-  thisPosix->Receive();
-#elif defined(ARDUINO)
-  Arduino::Participant* thisArduino = static_cast<Arduino::Participant*>(this);
-  thisArduino->Receive();
-#endif
-}
-
-RemoteParticipant* Participant::GetParticipant(const char* ipAddress, int port) {
-  for (RemoteParticipant* sender : this->senders) {
-    if (strcmp(sender->ipAddress, ipAddress) == 0 && sender->port == port)
-      return sender;
-  }
-  return nullptr;
-}
-
-RemoteParticipant* Participant::AddParticipant(const char* ipAddress, int port) {
-  std::cout << "New Participant " << ipAddress << ":" << port << "\n";
-  RemoteParticipant* participant = new RemoteParticipant(ipAddress, port);
-  participant->networkId = (unsigned char)this->senders.size();
-  this->senders.push_back(participant);
-  return participant;
-}
-
-#pragma region Send
-
-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(remoteParticipant, thingMsg);
-  delete thingMsg;
-  NameMsg* nameMsg = new NameMsg(this->networkId, thing);
-  this->Send(remoteParticipant, nameMsg);
-  delete nameMsg;
-  ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
-  this->Send(remoteParticipant, modelMsg);
-  delete modelMsg;
-  PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
-  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) {
-  int bufferSize = msg->Serialize(this->buffer);
-  if (bufferSize <= 0)
-    return true;
-
-#if defined(_WIN32) || defined(_WIN64)
-  Windows::Participant* thisWindows = static_cast<Windows::Participant*>(this);
-  return thisWindows->Send(remoteParticipant, bufferSize);
-#elif defined(__unix__) || defined(__APPLE__)
-  Posix::Participant* thisPosix = static_cast<Posix::Participant*>(this);
-  return thisPosix->Send(remoteParticipant, bufferSize);
-#elif defined(ARDUINO)
-  Arduino::Participant* thisArduino = static_cast<Arduino::Participant*>(this);
-  return thisArduino->Send(remoteParticipant, bufferSize);
-#endif
-}
-
-void Participant::PublishThingInfo(Thing* thing) {
-  // std::cout << "Publish thing info" << thing->networkId << "\n";
-  //  Strange, when publishing, the network id is irrelevant, because it is
-  //  connected to a specific site...
-  ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
-  this->Publish(thingMsg);
-  delete thingMsg;
-  NameMsg* nameMsg = new NameMsg(this->networkId, thing);
-  this->Publish(nameMsg);
-  delete nameMsg;
-  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;
-}
-
-bool Participant::Publish(IMessage* msg) {
-#if defined(_WIN32) || defined(_WIN64)
-  Windows::Participant* thisWindows = static_cast<Windows::Participant*>(this);
-  return thisWindows->Publish(msg);
-#elif defined(__unix__) || defined(__APPLE__)
-  Posix::Participant* thisPosix = static_cast<Posix::Participant*>(this);
-  return thisPosix->Publish(msg);
-#elif defined(ARDUINO)
-  Arduino::Participant* thisArduino = static_cast<Arduino::Participant*>(this);
-  return thisArduino->Publish(msg);
-#endif
-}
-
-// Send
-#pragma endregion
-
-#pragma region Receive
-
-void Participant::ReceiveData(unsigned char packetSize, char* senderIpAddress, unsigned int senderPort) {
-  RemoteParticipant* remoteParticipant = this->GetParticipant(senderIpAddress, senderPort);
-  if (remoteParticipant == nullptr) {
-    remoteParticipant = this->AddParticipant(senderIpAddress, senderPort);
-    // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
-    //           << "\n";
-    // std::cout << "New remote participant " << remoteParticipant->ipAddress
-    //           << ":" << remoteParticipant->port << " "
-    //           << (int)remoteParticipant->networkId << "\n";
-  }
-
-  ReceiveData(packetSize, remoteParticipant);
-}
-
-void Participant::ReceiveData(unsigned char bufferSize, RemoteParticipant* remoteParticipant) {
-  unsigned char msgId = this->buffer[0];
-  // std::cout << "receive msg " << (int)msgId << "\n";
-  switch (msgId) {
-    case ParticipantMsg::id: {
-      ParticipantMsg* msg = new ParticipantMsg(this->buffer);
-      Process(remoteParticipant, msg);
-      delete msg;
-    } break;
-    case SiteMsg::id: {
-      SiteMsg* msg = new SiteMsg(this->buffer);
-      Process(remoteParticipant, msg);
-      delete msg;
-    } break;
-    case InvestigateMsg::id: {
-      InvestigateMsg* msg = new InvestigateMsg(this->buffer);
-      Process(remoteParticipant, msg);
-      delete msg;
-    } break;
-    case ThingMsg::id: {
-      ThingMsg* msg = new ThingMsg(this->buffer);
-      Process(remoteParticipant, msg);
-      delete msg;
-    } break;
-    case NameMsg::id: {
-      NameMsg* msg = new NameMsg(this->buffer);
-      Process(remoteParticipant, msg);
-      delete msg;
-    } break;
-    case PoseMsg::id: {
-      PoseMsg* msg = new PoseMsg(this->buffer);
-      Process(remoteParticipant, msg);
-      delete msg;
-    } break;
-    case BinaryMsg::id: {
-      BinaryMsg* msg = new BinaryMsg(this->buffer);
-      Process(remoteParticipant, msg);
-      delete msg;
-    } break;
-  };
-}
-
-void Participant::Process(RemoteParticipant* sender, ParticipantMsg* msg) {}
-
-void Participant::Process(RemoteParticipant* sender, SiteMsg* msg) {
-  std::cout << this->name << ": process NetworkId [" << (int)this->networkId << "/" << (int)msg->networkId << "]\n";
-  if (this->networkId != msg->networkId) {
-    this->networkId = msg->networkId;
-    std::cout << this->things.size() << " things\n";
-    for (Thing* thing : this->things)
-      this->SendThingInfo(sender, thing);
-  }
-}
-
-void Participant::Process(RemoteParticipant* sender, InvestigateMsg* msg) {}
-
-void Participant::Process(RemoteParticipant* sender, ThingMsg* msg) {}
-
-void Participant::Process(RemoteParticipant* sender, NameMsg* msg) {
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
-  if (thing != nullptr) {
-    int nameLength = msg->nameLength;
-    int stringLen = nameLength + 1;
-    char* thingName = new char[stringLen];
-    // Use strncpy with bounds checking for other platforms (Arduino, POSIX, ESP-IDF)
-    strncpy(thingName, msg->name, stringLen - 1);  // Leave space for null terminator
-    thingName[nameLength] = '\0';
-    thing->name = thingName;
-    std::cout << "thing name = " << thing->name << " length = " << nameLength << "\n";
-  }
-}
-
-void Participant::Process(RemoteParticipant* sender, PoseMsg* msg) {}
-
-void Participant::Process(RemoteParticipant* sender, BinaryMsg* msg) {
-  // std::cout << this->name << ": process Binary [" << (int)this->networkId << "/"
-  //           << (int)msg->networkId << "]\n";
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
-  if (thing != nullptr)
-    thing->ProcessBinary(msg->bytes);
-  else
-    std::cout << "custom msg for unknown thing [" << (int)msg->networkId << "/" << (int)msg->thingId << "]\n";
-}
-
-// Receive
-#pragma endregion
-
 }  // namespace RoboidControl

Participant.h

@@ -1,96 +1,27 @@
 #pragma once
-
+#include "Thing.h"
-#include "Messages/BinaryMsg.h"
-#include "Messages/InvestigateMsg.h"
-#include "Messages/ModelUrlMsg.h"
-#include "Messages/NameMsg.h"
-#include "Messages/ParticipantMsg.h"
-#include "Messages/PoseMsg.h"
-#include "Messages/SiteMsg.h"
-#include "Messages/ThingMsg.h"
-#include "RemoteParticipant.h"
-
-#include <list>
-
-#if defined(_WIN32) || defined(_WIN64)
-#include <winsock2.h>
-#elif defined(__unix__) || defined(__APPLE__)
-#include <arpa/inet.h>
-#include <netinet/in.h>
-#include <sys/socket.h>
-#include <unistd.h>
-#elif defined(ARDUINO)
-#include <WiFiUdp.h>
-#endif
 
 namespace RoboidControl {
 
-/// @brief A participant is device which can communicate with other participants
+class Participant {
-class Participant : public RemoteParticipant {
+public:
- public:
+  const char *ipAddress = "0.0.0.0";
-  char buffer[1024];
+  int port = 0;
-  long publishInterval = 3000;  // 3 seconds
 
-  const char* name = "Participant";
+  unsigned char networkId = 0;
 
-  // int localPort = 0;
+  Participant();
-  RemoteParticipant* site = nullptr;
+  Participant(const char *ipAddress, int port);
+  ~Participant();
 
-#if defined(ARDUINO)
+protected:
-  const char* remoteIpAddress = nullptr;
+  std::list<Thing *> things;
-  unsigned short remotePort = 0;
-  char* broadcastIpAddress = nullptr;
 
-  WiFiUDP udp;
+public:
-#else
+  Thing *Get(unsigned char networkId, unsigned char thingId);
-
+  void Add(Thing *thing, bool checkId = true);
-#if defined(_WIN32) || defined(_WIN64)
+  void Remove(Thing *thing);
-  SOCKET sock;
+  void UpdateAll(unsigned long currentTimeMs);
-#elif defined(__unix__) || defined(__APPLE__)
-  int sock;
-#endif
-  sockaddr_in remote_addr;
-  sockaddr_in server_addr;
-  sockaddr_in broadcast_addr;
-
-#endif
-
-  Participant(int port = 7681);
-  Participant(const char* ipAddress, int port = 7681);
-
-  void begin();
-  bool connected = false;
-
-  virtual void Update(unsigned long currentTimeMs = 0);
-
-  void SendThingInfo(RemoteParticipant* remoteParticipant, Thing* thing);
-  void PublishThingInfo(Thing* thing);
-
-  bool Send(RemoteParticipant* remoteParticipant, IMessage* msg);
-  bool Publish(IMessage* msg);
-
-  void ReceiveData(unsigned char bufferSize, char* senderIpAddress, unsigned int senderPort);
-  void ReceiveData(unsigned char bufferSize, RemoteParticipant* remoteParticipant);
-
-  std::list<RemoteParticipant*> senders;
-
- protected:
-  unsigned long nextPublishMe = 0;
-
-  void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
-
-  RemoteParticipant* GetParticipant(const char* ipAddress, int port);
-  RemoteParticipant* AddParticipant(const char* ipAddress, int port);
-
-  void ReceiveUDP();
-
-  virtual void Process(RemoteParticipant* sender, ParticipantMsg* msg);
-  virtual void Process(RemoteParticipant* sender, SiteMsg* msg);
-  virtual void Process(RemoteParticipant* sender, InvestigateMsg* msg);
-  virtual void Process(RemoteParticipant* sender, ThingMsg* msg);
-  virtual void Process(RemoteParticipant* sender, NameMsg* msg);
-  virtual void Process(RemoteParticipant* sender, PoseMsg* msg);
-  virtual void Process(RemoteParticipant* sender, BinaryMsg* msg);
 };
 
-}  // namespace RoboidControl
+} // namespace Control

Posix/PosixParticipant.cpp

@@ -1,4 +1,4 @@
-#include "Participant.h"
+#include "PosixParticipant.h"
 
 #if defined(__unix__) || defined(__APPLE__)
 #include <arpa/inet.h>
@@ -11,7 +11,7 @@
 namespace RoboidControl {
 namespace Posix {
 
-void Participant::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
+void LocalParticipant::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 #if defined(__unix__) || defined(__APPLE__)
 
   // Create a UDP socket
@@ -63,7 +63,7 @@ void Participant::Setup(int localPort, const char* remoteIpAddress, int remotePo
 #endif
 }
 
-void Participant::Receive() {
+void LocalParticipant::Receive() {
 #if defined(__unix__) || defined(__APPLE__)
   sockaddr_in client_addr;
   socklen_t len = sizeof(client_addr);
@@ -74,7 +74,7 @@ void Participant::Receive() {
     unsigned int sender_port = ntohs(client_addr.sin_port);
 
     ReceiveData(packetSize, sender_ipAddress, sender_port);
-    // RoboidControl::RemoteParticipant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
+    // RoboidControl::Participant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
     // if (remoteParticipant == nullptr) {
     //   remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
     //   // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
@@ -90,7 +90,7 @@ void Participant::Receive() {
 #endif
 }
 
-bool Participant::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
+bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(__unix__) || defined(__APPLE__)
   // std::cout << "Send to " << remoteParticipant->ipAddress << ":" << ntohs(remoteParticipant->port)
   //           << "\n";
@@ -113,7 +113,7 @@ bool Participant::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
   return true;
 }
 
-bool Participant::Publish(IMessage* msg) {
+bool LocalParticipant::Publish(IMessage* msg) {
 #if defined(__unix__) || defined(__APPLE__)
   int bufferSize = msg->Serialize(this->buffer);
   if (bufferSize <= 0)

Posix/PosixParticipant.h

@@ -1,15 +1,15 @@
 #pragma once
 
-#include "../Participant.h"
+#include "../LocalParticipant.h"
 
 namespace RoboidControl {
 namespace Posix {
 
-class Participant : public RoboidControl::Participant {
+class LocalParticipant : public RoboidControl::LocalParticipant {
  public:
   void Setup(int localPort, const char* remoteIpAddress, int remotePort);
   void Receive();
-  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
+  bool Send(Participant* remoteParticipant, int bufferSize);
   bool Publish(IMessage* msg);
 };
 

RemoteParticipant.cpp

@@ -1,73 +0,0 @@
-#include "RemoteParticipant.h"
-
-#include <string.h>
-
-namespace RoboidControl {
-
-RemoteParticipant::RemoteParticipant() {}
-
-RemoteParticipant::RemoteParticipant(const char* ipAddress, int port) {
-  // make a copy of the ip address string
-  int addressLength = strlen(ipAddress);
-  int stringLength = addressLength + 1;
-  char* addressString = new char[stringLength];
-  strncpy(addressString, ipAddress, addressLength);
-  addressString[addressLength] = '\0';
-
-  this->ipAddress = addressString;
-  this->port = port;
-}
-
-RemoteParticipant::~RemoteParticipant() {
-  delete[] this->ipAddress;
-}
-
-Thing* RemoteParticipant::Get(unsigned char networkId, unsigned char thingId) {
-  for (Thing* thing : this->things) {
-    //if (thing->networkId == networkId && thing->id == thingId)
-    if (thing->id == thingId)
-      return thing;
-  }
-  //   std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
-  //             << "[" << (int)networkId << "/" << (int)thingId << "]\n";
-  return nullptr;
-}
-
-void RemoteParticipant::Add(Thing* thing, bool checkId) {
-  if (checkId && thing->id == 0) {
-    // allocate a new thing ID
-    thing->id = this->things.size() + 1;
-    this->things.push_back(thing);
-    // std::cout << "Add thing with generated ID " << this->ipAddress << ":" << this->port << "[" << (int)thing->networkId << "/"
-    //           << (int)thing->id << "]\n";
-  } else {
-    Thing* foundThing = Get(thing->networkId, thing->id);
-    if (foundThing == nullptr) {
-      this->things.push_back(thing);
-      // std::cout << "Add thing " << this->ipAddress << ":" << this->port << "[" << (int)thing->networkId << "/"
-      //           << (int)thing->id << "]\n";
-    } 
-    // else
-    //   std::cout << "Did not add, existing thing " << this->ipAddress << ":" << this->port << "["
-    //             << (int)thing->networkId << "/" << (int)thing->id << "]\n";
-  }
-}
-
-void RemoteParticipant::Remove(Thing* thing) {
-  this->things.remove_if([thing](Thing* obj) { return obj == thing; });
-  std::cout << "Removing " << thing->networkId << "/" << thing->id << " list size = " << this->things.size() << "\n";
-}
-
-void RemoteParticipant::UpdateAll(unsigned long currentTimeMs) {
-  // Not very efficient, but it works for now.
-
-  for (Thing* thing : this->things) {
-    if (thing != nullptr && thing->GetParent() == nullptr) {  // update all root things
-      // std::cout << " update " << (int)ix << " thingid " << (int)thing->id
-      //           << "\n";
-      thing->Update(currentTimeMs);
-    }
-  }
-}
-
-}  // namespace RoboidControl

RemoteParticipant.h

@@ -1,27 +0,0 @@
-#pragma once
-#include "Thing.h"
-
-namespace RoboidControl {
-
-class RemoteParticipant {
-public:
-  const char *ipAddress = "0.0.0.0";
-  int port = 0;
-
-  unsigned char networkId = 0;
-
-  RemoteParticipant();
-  RemoteParticipant(const char *ipAddress, int port);
-  ~RemoteParticipant();
-
-protected:
-  std::list<Thing *> things;
-
-public:
-  Thing *Get(unsigned char networkId, unsigned char thingId);
-  void Add(Thing *thing, bool checkId = true);
-  void Remove(Thing *thing);
-  void UpdateAll(unsigned long currentTimeMs);
-};
-
-} // namespace Control

Sensors/DigitalSensor.cpp

@@ -4,6 +4,6 @@ namespace RoboidControl {
 
 //DigitalSensor::DigitalSensor() {}
 
-DigitalSensor::DigitalSensor(RemoteParticipant* participant, unsigned char networkId, unsigned char thingId) : Thing(participant) {}
+DigitalSensor::DigitalSensor(Participant* participant, unsigned char networkId, unsigned char thingId) : Thing(participant) {}
 
 }  // namespace RoboidControl

Sensors/DigitalSensor.h

@@ -15,7 +15,7 @@ class DigitalSensor : public Thing {
   /// @brief Create a temperature sensor with the given ID
   /// @param networkId The network ID of the sensor
   /// @param thingId The ID of the thing
-  DigitalSensor(RemoteParticipant* participant, unsigned char networkId, unsigned char thingId);
+  DigitalSensor(Participant* participant, unsigned char networkId, unsigned char thingId);
 };
 
 }  // namespace RoboidControl

Sensors/TemperatureSensor.cpp

@@ -8,7 +8,7 @@ namespace RoboidControl {
 
 //TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
 
-TemperatureSensor::TemperatureSensor(RemoteParticipant* participant, unsigned char networkId, unsigned char thingId)
+TemperatureSensor::TemperatureSensor(Participant* participant, unsigned char networkId, unsigned char thingId)
     : Thing(participant, networkId, thingId, Type::TemperatureSensor) {}
 
 void TemperatureSensor::SetTemperature(float temp) {

Sensors/TemperatureSensor.h

@@ -15,7 +15,7 @@ class TemperatureSensor : public Thing {
   /// @brief Create a temperature sensor with the given ID
   /// @param networkId The network ID of the sensor
   /// @param thingId The ID of the thing
-  TemperatureSensor(RemoteParticipant* participant, unsigned char networkId, unsigned char thingId);
+  TemperatureSensor(Participant* participant, unsigned char networkId, unsigned char thingId);
 
   /// @brief Manually override the measured temperature
   /// @param temperature The new temperature

Sensors/TouchSensor.cpp

@@ -2,7 +2,7 @@
 
 namespace RoboidControl {
 
-TouchSensor::TouchSensor(RemoteParticipant* participant) : Thing(participant) {
+TouchSensor::TouchSensor(Participant* participant) : Thing(participant) {
   this->touchedSomething = false;
   this->type = (unsigned char)Thing::Type::TouchSensor;
 }

Sensors/TouchSensor.h

@@ -11,7 +11,7 @@ class TouchSensor : public Thing {
   bool touchedSomething = false;
 
   /// @brief Create a touch sensor
-  TouchSensor(RemoteParticipant* participant);
+  TouchSensor(Participant* participant);
   /// @brief Create a temperature sensor with the given ID
   /// @param networkId The network ID of the sensor
   /// @param thingId The ID of the thing

SiteServer.cpp

@@ -21,7 +21,7 @@ SiteServer::SiteServer(int port) {
   Register<TemperatureSensor>((unsigned char)Thing::Type::TemperatureSensor);
 }
 
-void SiteServer::Process(RemoteParticipant *sender, ParticipantMsg *msg) {
+void SiteServer::Process(Participant *sender, ParticipantMsg *msg) {
   if (msg->networkId == 0) {
     std::cout << this->name << " received New Client -> " << sender->ipAddress
               << ":" << (int)sender->port << "\n";
@@ -31,9 +31,9 @@ void SiteServer::Process(RemoteParticipant *sender, ParticipantMsg *msg) {
   }
 }
 
-void SiteServer::Process(RemoteParticipant *sender, SiteMsg *msg) {}
+void SiteServer::Process(Participant *sender, SiteMsg *msg) {}
 
-void SiteServer::Process(RemoteParticipant *sender, ThingMsg *msg) {
+void SiteServer::Process(Participant *sender, ThingMsg *msg) {
   Thing *thing = sender->Get(msg->networkId, msg->thingId);
   if (thing == nullptr) {
     auto thingMsgProcessor = thingMsgProcessors.find(msg->thingType);

SiteServer.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "Participant.h"
+#include "LocalParticipant.h"
 
 #include <functional>
 #include <memory>
@@ -9,7 +9,7 @@
 namespace RoboidControl {
 
 /// @brief A participant is device which can communicate with other participants
-class SiteServer : public Participant {
+class SiteServer : public LocalParticipant {
  public:
   SiteServer(int port = 7681);
 
@@ -17,7 +17,7 @@ class SiteServer : public Participant {
 
   template <typename ThingClass>
   void Register(unsigned char thingType) {
-    thingMsgProcessors[thingType] = [](RemoteParticipant* participant, unsigned char networkId, unsigned char thingId) {
+    thingMsgProcessors[thingType] = [](Participant* participant, unsigned char networkId, unsigned char thingId) {
       return new ThingClass(participant, networkId, thingId);
     };
   };
@@ -25,11 +25,11 @@ class SiteServer : public Participant {
  protected:
   unsigned long nextPublishMe = 0;
 
-  virtual void Process(RemoteParticipant* sender, ParticipantMsg* msg) override;
+  virtual void Process(Participant* sender, ParticipantMsg* msg) override;
-  virtual void Process(RemoteParticipant* sender, SiteMsg* msg) override;
+  virtual void Process(Participant* sender, SiteMsg* msg) override;
-  virtual void Process(RemoteParticipant* sender, ThingMsg* msg) override;
+  virtual void Process(Participant* sender, ThingMsg* msg) override;
 
-  using ThingConstructor = std::function<Thing*(RemoteParticipant* participant, unsigned char networkId, unsigned char thingId)>;
+  using ThingConstructor = std::function<Thing*(Participant* participant, unsigned char networkId, unsigned char thingId)>;
   std::unordered_map<unsigned char, ThingConstructor> thingMsgProcessors;
 };
 

Thing.cpp

@@ -4,13 +4,13 @@
 #include <algorithm>
 #include <iostream>
 #include <list>
-#include "Participant.h"
+#include "LocalParticipant.h"
 
 namespace RoboidControl {
 
-Thing::Thing(RemoteParticipant* owner, Type thingType) : Thing(owner, (unsigned char)thingType) {}
+Thing::Thing(Participant* owner, Type thingType) : Thing(owner, (unsigned char)thingType) {}
 
-Thing::Thing(RemoteParticipant* owner, unsigned char thingType) {
+Thing::Thing(Participant* owner, unsigned char thingType) {
   this->participant = owner;
   this->id = 0;
   this->type = thingType;
@@ -26,7 +26,7 @@ Thing::Thing(RemoteParticipant* owner, unsigned char thingType) {
   owner->Add(this);
 }
 
-Thing::Thing(RemoteParticipant* owner, unsigned char networkId, unsigned char thingId, Type thingType) {
+Thing::Thing(Participant* owner, unsigned char networkId, unsigned char thingId, Type thingType) {
   // no participant reference yet..
   this->participant = owner;
   this->networkId = networkId;

Thing.h

@@ -6,7 +6,7 @@
 
 namespace RoboidControl {
 
-class RemoteParticipant;
+class Participant;
 
 #define THING_STORE_SIZE 256
 // IMPORTANT: values higher than 256 will need to change the Thing::id type
@@ -15,7 +15,7 @@ class RemoteParticipant;
 /// @brief A thing is the primitive building block
 class Thing {
  public:
-  RemoteParticipant* participant; // -> owner
+  Participant* participant; // -> owner
   unsigned char networkId = 0;
   /// @brief The ID of the thing
   unsigned char id = 0;
@@ -43,16 +43,16 @@ class Thing {
 
   /// @brief Create a new thing of the given type
   /// @param thingType The predefined type of thing
-  Thing(RemoteParticipant* participant, Type thingType = Type::Undetermined);
+  Thing(Participant* participant, Type thingType = Type::Undetermined);
   /// @brief Create a new thing of the give type
   /// @param thingType The custom type of the thing
-  Thing(RemoteParticipant* participant, unsigned char thingType);
+  Thing(Participant* participant, unsigned char thingType);
   /// @brief Create a new thing for the given participant
   /// @param participant The participant for which this thing is created
   /// @param networkId The network ID of the thing
   /// @param thingId The ID of the thing
   /// @param thingType The type of thing
-  Thing(RemoteParticipant* participant,
+  Thing(Participant* participant,
         unsigned char networkId,
         unsigned char thingId,
         Type thingType = Type::Undetermined);

Windows/WindowsParticipant.cpp

@@ -1,4 +1,4 @@
-#include "Participant.h"
+#include "WindowsParticipant.h"
 
 #if defined(_WIN32) || defined(_WIN64)
 #include <winsock2.h>
@@ -15,7 +15,7 @@
 namespace RoboidControl {
 namespace Windows {
 
-void Participant::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
+void LocalParticipant::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 #if defined(_WIN32) || defined(_WIN64)
 
   // Create a UDP socket
@@ -94,7 +94,7 @@ void Participant::Setup(int localPort, const char* remoteIpAddress, int remotePo
 #endif
 }
 
-void Participant::Receive() {
+void LocalParticipant::Receive() {
 #if defined(_WIN32) || defined(_WIN64)
   // char ip_str[INET_ADDRSTRLEN];
   // inet_ntop(AF_INET, &(server_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
@@ -123,7 +123,7 @@ void Participant::Receive() {
     unsigned int sender_port = ntohs(client_addr.sin_port);
 
     ReceiveData(packetSize, sender_ipAddress, sender_port);
-    // RoboidControl::Participant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
+    // RoboidControl::LocalParticipant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
     // if (remoteParticipant == nullptr) {
     //   remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
     //   // std::cout << "New sender " << sender_ipAddress << ":"
@@ -140,7 +140,7 @@ void Participant::Receive() {
 #endif
 }
 
-bool Participant::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
+bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(_WIN32) || defined(_WIN64)
   char ip_str[INET_ADDRSTRLEN];
   inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
@@ -165,7 +165,7 @@ bool Participant::Send(RemoteParticipant* remoteParticipant, int bufferSize) {
   return true;
 }
 
-bool Participant::Publish(IMessage* msg) {
+bool LocalParticipant::Publish(IMessage* msg) {
 #if defined(_WIN32) || defined(_WIN64)
   int bufferSize = msg->Serialize(this->buffer);
   if (bufferSize <= 0)

Windows/WindowsParticipant.h

@@ -1,15 +1,15 @@
 #pragma once
 
-#include "../Participant.h"
+#include "../LocalParticipant.h"
 
 namespace RoboidControl {
 namespace Windows {
 
-class Participant : public RoboidControl::Participant {
+class LocalParticipant : public RoboidControl::LocalParticipant {
  public:
   void Setup(int localPort, const char* remoteIpAddress, int remotePort);
   void Receive();
-  bool Send(RemoteParticipant* remoteParticipant, int bufferSize);
+  bool Send(Participant* remoteParticipant, int bufferSize);
   bool Publish(IMessage* msg);
 };
 

test/second_test.cc

@@ -25,7 +25,7 @@ protected:
 };
 
 TEST_F(ControlCoreSuite2, Dummytest2) {
-  Participant participant = Participant("127.0.0.1", 7681);
+  LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
   ASSERT_EQ(1, 1);
 }
 

test/thing_test.cc

@@ -35,8 +35,8 @@ protected:
   }
 };
 
-TEST_F(ControlCoreSuite, Participant) {
+TEST_F(ControlCoreSuite, LocalParticipant) {
-  Participant participant = Participant("127.0.0.1", 7681);
+  LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
 
   unsigned long milliseconds = get_time_ms();
   unsigned long startTime = milliseconds;
@@ -63,7 +63,7 @@ TEST_F(ControlCoreSuite, SiteServer) {
 
 TEST_F(ControlCoreSuite, SiteParticipant) {
   SiteServer site = SiteServer(7681);
-  Participant participant = Participant("127.0.0.1", 7681);
+  LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
 
   unsigned long milliseconds = get_time_ms();
   unsigned long startTime = milliseconds;
@@ -79,7 +79,7 @@ TEST_F(ControlCoreSuite, SiteParticipant) {
 
 TEST_F(ControlCoreSuite, Thing) {
   SiteServer site = SiteServer(7681);
-  Participant participant = Participant("127.0.0.1", 7681);
+  LocalParticipant participant = LocalParticipant("127.0.0.1", 7681);
   Thing thing = Thing(&participant);
 
   unsigned long milliseconds = get_time_ms();