Arduino/ArduinoParticipant.cpp

@@ -19,10 +19,8 @@
 namespace RoboidControl {
 namespace Arduino {
 
-void LocalParticipant::Setup(int localPort,
+void LocalParticipant::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
-                             const char* remoteIpAddress,
+#if defined(ARDUINO)
-                             int remotePort) {
-#if defined(ARDUINO) && defined(HAS_WIFI)
   this->remoteIpAddress = remoteIpAddress;
   this->remotePort = remotePort;
   GetBroadcastAddress();
@@ -45,19 +43,18 @@ void LocalParticipant::Setup(int localPort,
 }
 
 void LocalParticipant::GetBroadcastAddress() {
-#if defined(ARDUINO) && defined(HAS_WIFI)
+#if defined(ARDUINO)
   IPAddress broadcastAddress = WiFi.localIP();
   broadcastAddress[3] = 255;
   String broadcastIpString = broadcastAddress.toString();
   this->broadcastIpAddress = new char[broadcastIpString.length() + 1];
-  broadcastIpString.toCharArray(this->broadcastIpAddress,
+  broadcastIpString.toCharArray(this->broadcastIpAddress, broadcastIpString.length() + 1);
-                                broadcastIpString.length() + 1);
   std::cout << "Broadcast address: " << broadcastIpAddress << "\n";
 #endif
 }
 
 void LocalParticipant::Receive() {
-#if defined(ARDUINO) && defined(HAS_WIFI)
+#if defined(ARDUINO)
   int packetSize = udp.parsePacket();
   while (packetSize > 0) {
     udp.read(buffer, packetSize);
@@ -67,14 +64,12 @@ void LocalParticipant::Receive() {
     senderAddress.toCharArray(sender_ipAddress, 16);
     unsigned int sender_port = udp.remotePort();
 
-    // Participant* remoteParticipant = this->GetParticipant(sender_ipAddress,
+    // Participant* remoteParticipant = this->GetParticipant(sender_ipAddress, sender_port);
-    // sender_port); if (remoteParticipant == nullptr) {
+    // if (remoteParticipant == nullptr) {
-    //   remoteParticipant = this->AddParticipant(sender_ipAddress,
+    //   remoteParticipant = this->AddParticipant(sender_ipAddress, sender_port);
-    //   sender_port);
     //   // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
     //   //           << "\n";
-    //   // std::cout << "New remote participant " <<
+    //   // std::cout << "New remote participant " << remoteParticipant->ipAddress
-    //   remoteParticipant->ipAddress
     //   //           << ":" << remoteParticipant->port << " "
     //   //           << (int)remoteParticipant->networkId << "\n";
     // }
@@ -87,7 +82,7 @@ void LocalParticipant::Receive() {
 }
 
 bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
-#if defined(ARDUINO) && defined(HAS_WIFI)
+#if defined(ARDUINO)
   // std::cout << "Sending to:\n " << remoteParticipant->ipAddress << ":"
   // << remoteParticipant->port << "\n";
 
@@ -107,7 +102,7 @@ bool LocalParticipant::Send(Participant* remoteParticipant, int bufferSize) {
 }
 
 bool LocalParticipant::Publish(IMessage* msg) {
-#if defined(ARDUINO) && defined(HAS_WIFI)
+#ifdef ARDUINO
   int bufferSize = msg->Serialize((char*)this->buffer);
   if (bufferSize <= 0)
     return true;

Arduino/ArduinoParticipant.h

@@ -2,10 +2,6 @@
 
 #include "../LocalParticipant.h"
 
-#if defined(HAS_WIFI)
-#include <WiFiUdp.h>
-#endif
-
 namespace RoboidControl {
 namespace Arduino {
 
@@ -17,14 +13,6 @@ class LocalParticipant : public RoboidControl::LocalParticipant {
   bool Publish(IMessage* msg);
 
  protected:
-#if defined(HAS_WIFI)
-  const char* remoteIpAddress = nullptr;
-  unsigned short remotePort = 0;
-  char* broadcastIpAddress = nullptr;
-
-  WiFiUDP udp;
-#endif
-
   void GetBroadcastAddress();
 };
 

Arduino/ArduinoUtils.cpp

@@ -42,13 +42,8 @@ struct NssServer {
 } nssServer;
 #endif
 
-bool StartWifi(const char* wifiSsid,
+bool StartWifi(const char* wifiSsid, const char* wifiPassword, bool hotspotFallback) {
-               const char* wifiPassword,
+#if UNO_R4 || ARDUINO_ARCH_RP2040
-               bool hotspotFallback) {
-#if !defined(HAS_WIFI)
-  return false;
-#else
-#if defined(UNO_R4) || defined(ARDUINO_ARCH_RP2040)
   if (WiFi.status() == WL_NO_MODULE) {
     Serial.println("WiFi not present, WiFiSync is disabled");
     return false;
@@ -125,10 +120,8 @@ bool StartWifi(const char* wifiSsid,
 #if ESP32
     printf("Checking credentials in flash\n");
     wifiPreferences.begin(PREFERENCES_NAMESPACE);
-    wifiPreferences.getBytes(STORAGE_KEY_WIFI, &credentials,
+    wifiPreferences.getBytes(STORAGE_KEY_WIFI, &credentials, sizeof(credentials));
-                             sizeof(credentials));
+    if (strcmp(wifiSsid, credentials.ssid) != 0 || strcmp(wifiPassword, credentials.password) != 0) {
-    if (strcmp(wifiSsid, credentials.ssid) != 0 ||
-        strcmp(wifiPassword, credentials.password) != 0) {
       printf("Updating credentials in flash...");
       const int ssidLen = strlen(wifiSsid);
       if (ssidLen < 32) {
@@ -141,8 +134,7 @@ bool StartWifi(const char* wifiSsid,
         memcpy(credentials.password, wifiPassword, pwdLen);
         credentials.password[pwdLen] = '\0';
       }
-      wifiPreferences.putBytes(STORAGE_KEY_WIFI, &credentials,
+      wifiPreferences.putBytes(STORAGE_KEY_WIFI, &credentials, sizeof(credentials));
-                               sizeof(credentials));
       printf(" completed.\n");
     }
     wifiPreferences.end();
@@ -150,15 +142,10 @@ bool StartWifi(const char* wifiSsid,
   }
 
   return (!hotSpotEnabled);
-#endif
 }
 
 void CheckFirmware(String url, String FIRMWARE_NAME, int FIRMWARE_VERSION) {
-#if !defined(HAS_WIFI)
+#if defined(UNO_R4)  // Uno R4 Wifi does not support this kind of firmware update (as far as I know)
-  return;
-#else
-#if defined(UNO_R4)  // Uno R4 Wifi does not support this kind of firmware
-                     // update (as far as I know)
   return;
 #else
   Serial.println("Checking for firmware updates.");
@@ -190,12 +177,10 @@ void CheckFirmware(String url, String FIRMWARE_NAME, int FIRMWARE_VERSION) {
       switch (ret) {
         case HTTP_UPDATE_FAILED:
 #if defined(ESP32)
-          Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s",
+          Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s", httpUpdate.getLastError(),
-                        httpUpdate.getLastError(),
                         httpUpdate.getLastErrorString().c_str());
 #else
-          Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s",
+          Serial.printf("HTTP_UPDATE_FAILED Error (%d): %s", ESPhttpUpdate.getLastError(),
-                        ESPhttpUpdate.getLastError(),
                         ESPhttpUpdate.getLastErrorString().c_str());
 #endif
           break;
@@ -213,6 +198,5 @@ void CheckFirmware(String url, String FIRMWARE_NAME, int FIRMWARE_VERSION) {
     Serial.println(httpCode);
   }
 #endif
-#endif
 }
 #endif

Arduino/Things/DRV8833.cpp

@@ -3,9 +3,11 @@
 #include <Arduino.h>
 
 namespace RoboidControl {
-namespace Arduino {
 
-DRV8833Motor::DRV8833Motor(Participant* participant, unsigned char pinIn1, unsigned char pinIn2, bool reverse)
+DRV8833Motor::DRV8833Motor(Participant* participant,
+                           unsigned char pinIn1,
+                           unsigned char pinIn2,
+                           bool reverse)
     : Thing(participant) {
   this->pinIn1 = pinIn1;
   this->pinIn2 = pinIn2;
@@ -45,7 +47,7 @@ void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
   if (velocity.direction.horizontal.InDegrees() < 0)
     motorSpeed = -motorSpeed;
   if (this->reverse)
-    motorSpeed = -motorSpeed;
+    motorSpeed =-motorSpeed;
 
   // std::cout << "ang speed " << this->name << " = " << angularSpeed << "   rpm " << rpm
   //           << ", motor signal = " << (int)motorSignal << "\n";
@@ -116,5 +118,4 @@ DRV8833::DRV8833(Participant* participant,
   this->motorB->name = "Motor B";
 }
 
-}  // namespace Arduino
 }  // namespace RoboidControl

Arduino/Things/DigitalInput.cpp

@@ -5,18 +5,16 @@
 namespace RoboidControl {
 namespace Arduino {
 
-DigitalInput::DigitalInput(Participant* participant, unsigned char pin)
+DigitalInput::DigitalInput(Participant* participant, unsigned char pin) : TouchSensor(participant) {
-    : TouchSensor(participant) {
     this->pin = pin;
 
     pinMode(pin, INPUT);
 }
 
-void DigitalInput::Update(unsigned long currentTimeMs, bool recursive) {
+void DigitalInput::Update(unsigned long currentTimeMs) {
     this->touchedSomething = digitalRead(pin) == LOW;
-  // std::cout << "DigitalINput pin " << (int)this->pin << ": " <<
+
-  // this->touchedSomething << "\n";
+    // std::cout << "DigitalINput pin " << (int)this->pin << ": " << this->touchedSomething << "\n";
-  Thing::Update(currentTimeMs, recursive);
 }
 
 }  // namespace Arduino

Arduino/Things/DigitalInput.h

@@ -14,8 +14,7 @@ class DigitalInput : public TouchSensor {
   DigitalInput(Participant* participant, unsigned char pin);
 
     /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
-  virtual void Update(unsigned long currentTimeMs,
+  virtual void Update(unsigned long currentTimeMs) override;
-                      bool recursive = false) override;
 
  protected:
   /// @brief The pin used for digital input

Arduino/Things/UltrasonicSensor.cpp

@@ -5,9 +5,7 @@
 namespace RoboidControl {
 namespace Arduino {
 
-UltrasonicSensor::UltrasonicSensor(Participant* participant,
+UltrasonicSensor::UltrasonicSensor(Participant* participant, unsigned char pinTrigger, unsigned char pinEcho)
-                                   unsigned char pinTrigger,
-                                   unsigned char pinEcho)
     : TouchSensor(participant) {
   this->pinTrigger = pinTrigger;
   this->pinEcho = pinEcho;
@@ -25,8 +23,7 @@ float UltrasonicSensor::GetDistance() {
   digitalWrite(pinTrigger, LOW);
 
   // Measure the duration of the pulse on the echo pin
-  float duration_us =
+  float duration_us = pulseIn(pinEcho, HIGH, 100000);  // the result is in microseconds
-      pulseIn(pinEcho, HIGH, 100000);  // the result is in microseconds
 
   // Calculate the distance:
   // * Duration should be divided by 2, because the ping goes to the object
@@ -46,16 +43,14 @@ float UltrasonicSensor::GetDistance() {
 
   this->touchedSomething |= (this->distance <= this->touchDistance);
 
-  //   std::cout << "Ultrasonic " << this->distance << " " <<
+//   std::cout << "Ultrasonic " << this->distance << " " << this->touchedSomething << "\n";
-  //   this->touchedSomething << "\n";
 
   return distance;
 }
 
-void UltrasonicSensor::Update(unsigned long currentTimeMs, bool recursive) {
+void UltrasonicSensor::Update(unsigned long currentTimeMs) {
   this->touchedSomething = false;
   GetDistance();
-  Thing::Update(currentTimeMs, recursive);
 }
 
 // void UltrasonicSensor::ProcessBinary(char* bytes) {

Arduino/Things/UltrasonicSensor.h

@@ -12,9 +12,7 @@ class UltrasonicSensor : public TouchSensor {
   /// @param participant The participant to use
   /// @param pinTrigger The pin number of the trigger signal
   /// @param pinEcho The pin number of the echo signal
-  UltrasonicSensor(Participant* participant,
+  UltrasonicSensor(Participant* participant, unsigned char pinTrigger, unsigned char pinEcho);
-                   unsigned char pinTrigger,
-                   unsigned char pinEcho);
 
   // parameters
 
@@ -25,14 +23,12 @@ class UltrasonicSensor : public TouchSensor {
 
   /// @brief The last read distance
   float distance = 0;
-  /// @brief erform an ultrasonic 'ping' to determine the distance to the
+  /// @brief erform an ultrasonic 'ping' to determine the distance to the nearest object
-  /// nearest object
   /// @return the measured distance in meters to the nearest object
   float GetDistance();
 
   /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
-  virtual void Update(unsigned long currentTimeMs,
+  virtual void Update(unsigned long currentTimeMs) override;
-                      bool recursive = false) override;
 
  protected:
   /// @brief The pin number of the trigger signal

Examples/BB2B.cpp

@@ -2,18 +2,12 @@
 #include "Things/DifferentialDrive.h"
 #include "Things/TouchSensor.h"
 
-#if defined(ARDUINO)
-#include "Arduino.h"
-
-#else
 #include <chrono>
 #include <thread>
 
+using namespace RoboidControl;
 using namespace std::this_thread;
 using namespace std::chrono;
-#endif
-
-using namespace RoboidControl;
 
 int main() {
   // The robot's propulsion is a differential drive
@@ -39,11 +33,7 @@ int main() {
     bb2b->Update(true);
 
     // and sleep for 100ms
-#if defined(ARDUINO)
-    delay(100);
-#else
     sleep_for(milliseconds(100));
-#endif
   }
 
   return 0;

LocalParticipant.cpp

@@ -5,23 +5,21 @@
 #include "Arduino/ArduinoParticipant.h"
 
 #if defined(_WIN32) || defined(_WIN64)
+#include "Windows/WindowsParticipant.h"
 #include <winsock2.h>
 #include <ws2tcpip.h>
-#include "Windows/WindowsParticipant.h"
 #pragma comment(lib, "ws2_32.lib")
 
 #elif defined(__unix__) || defined(__APPLE__)
+#include "Posix/PosixParticipant.h"
 #include <arpa/inet.h>
 #include <fcntl.h>  // For fcntl
 #include <netinet/in.h>
 #include <sys/socket.h>
 #include <unistd.h>
 #include <chrono>
-#include "Posix/PosixParticipant.h"
 #endif
 
-#include <string.h>
-
 namespace RoboidControl {
 
 // LocalParticipant::LocalParticipant() {}
@@ -34,8 +32,7 @@ LocalParticipant::LocalParticipant(int port) {
 }
 
 LocalParticipant::LocalParticipant(const char* ipAddress, int port) {
-  this->ipAddress = "0.0.0.0";  // ipAddress;  // maybe this is not needed
+  this->ipAddress = "0.0.0.0";  // ipAddress;  // maybe this is not needed anymore, keeping it to "0.0.0.0"
-                                // anymore, keeping it to "0.0.0.0"
   this->port = port;
   if (this->port == 0)
     this->isIsolated = true;
@@ -58,20 +55,15 @@ void LocalParticipant::begin() {
   SetupUDP(this->port, this->ipAddress, this->port);
 }
 
-void LocalParticipant::SetupUDP(int localPort,
+void LocalParticipant::SetupUDP(int localPort, const char* remoteIpAddress, int remotePort) {
-                                const char* remoteIpAddress,
-                                int remotePort) {
 #if defined(_WIN32) || defined(_WIN64)
-  Windows::LocalParticipant* thisWindows =
+  Windows::LocalParticipant* thisWindows = static_cast<Windows::LocalParticipant*>(this);
-      static_cast<Windows::LocalParticipant*>(this);
   thisWindows->Setup(localPort, remoteIpAddress, remotePort);
 #elif defined(__unix__) || defined(__APPLE__)
-  Posix::LocalParticipant* thisPosix =
+  Posix::LocalParticipant* thisPosix = static_cast<Posix::LocalParticipant*>(this);
-      static_cast<Posix::LocalParticipant*>(this);
   thisPosix->Setup(localPort, remoteIpAddress, remotePort);
 #elif defined(ARDUINO)
-  Arduino::LocalParticipant* thisArduino =
+  Arduino::LocalParticipant* thisArduino = static_cast<Arduino::LocalParticipant*>(this);
-      static_cast<Arduino::LocalParticipant*>(this);
   thisArduino->Setup(localPort, remoteIpAddress, remotePort);
 #endif
   this->connected = true;
@@ -79,15 +71,13 @@ void LocalParticipant::SetupUDP(int localPort,
 
 void LocalParticipant::Update(unsigned long currentTimeMs) {
   if (currentTimeMs == 0) {
-    currentTimeMs = Thing::GetTimeMs();
+#if defined(ARDUINO)
-    // #if defined(ARDUINO)
+    currentTimeMs = millis();
-    //     currentTimeMs = millis();
+#elif defined(__unix__) || defined(__APPLE__)
-    // #elif defined(__unix__) || defined(__APPLE__)
+    auto now = std::chrono::steady_clock::now();
-    //     auto now = std::chrono::steady_clock::now();
+    auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch());
-    //     auto ms =
+    currentTimeMs = static_cast<unsigned long>(ms.count());
-    //     std::chrono::duration_cast<std::chrono::milliseconds>(now.time_since_epoch());
+#endif
-    //     currentTimeMs = static_cast<unsigned long>(ms.count());
-    // #endif
   }
 
   if (this->isIsolated == false) {
@@ -122,16 +112,13 @@ void LocalParticipant::Update(unsigned long currentTimeMs) {
 
 void LocalParticipant::ReceiveUDP() {
 #if defined(_WIN32) || defined(_WIN64)
-  Windows::LocalParticipant* thisWindows =
+  Windows::LocalParticipant* thisWindows = static_cast<Windows::LocalParticipant*>(this);
-      static_cast<Windows::LocalParticipant*>(this);
   thisWindows->Receive();
 #elif defined(__unix__) || defined(__APPLE__)
-  Posix::LocalParticipant* thisPosix =
+  Posix::LocalParticipant* thisPosix = static_cast<Posix::LocalParticipant*>(this);
-      static_cast<Posix::LocalParticipant*>(this);
   thisPosix->Receive();
 #elif defined(ARDUINO)
-  Arduino::LocalParticipant* thisArduino =
+  Arduino::LocalParticipant* thisArduino = static_cast<Arduino::LocalParticipant*>(this);
-      static_cast<Arduino::LocalParticipant*>(this);
   thisArduino->Receive();
 #endif
 }
@@ -145,23 +132,17 @@ Participant* LocalParticipant::GetParticipant(const char* ipAddress, int port) {
 }
 
 Participant* LocalParticipant::AddParticipant(const char* ipAddress, int port) {
-  // std::cout << "New Participant " << ipAddress << ":" << port << "\n";
+  std::cout << "New Participant " << ipAddress << ":" << port << "\n";
   Participant* participant = new Participant(ipAddress, port);
-#if defined(NO_STD)
-  participant->networkId = this->senderCount;
-  this->senders[this->senderCount++] = participant;
-#else
   participant->networkId = (unsigned char)this->senders.size();
   this->senders.push_back(participant);
-#endif
   return participant;
 }
 
 #pragma region Send
 
-void LocalParticipant::SendThingInfo(Participant* remoteParticipant,
+void LocalParticipant::SendThingInfo(Participant* remoteParticipant, Thing* thing) {
-                                     Thing* thing) {
+  std::cout << "Send thing info " << (int)thing->id << " \n";
-  // std::cout << "Send thing info " << (int)thing->id << " \n";
   ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
   this->Send(remoteParticipant, thingMsg);
   delete thingMsg;
@@ -185,16 +166,13 @@ bool LocalParticipant::Send(Participant* remoteParticipant, IMessage* msg) {
     return true;
 
 #if defined(_WIN32) || defined(_WIN64)
-  Windows::LocalParticipant* thisWindows =
+  Windows::LocalParticipant* thisWindows = static_cast<Windows::LocalParticipant*>(this);
-      static_cast<Windows::LocalParticipant*>(this);
   return thisWindows->Send(remoteParticipant, bufferSize);
 #elif defined(__unix__) || defined(__APPLE__)
-  Posix::LocalParticipant* thisPosix =
+  Posix::LocalParticipant* thisPosix = static_cast<Posix::LocalParticipant*>(this);
-      static_cast<Posix::LocalParticipant*>(this);
   return thisPosix->Send(remoteParticipant, bufferSize);
 #elif defined(ARDUINO)
-  Arduino::LocalParticipant* thisArduino =
+  Arduino::LocalParticipant* thisArduino = static_cast<Arduino::LocalParticipant*>(this);
-      static_cast<Arduino::LocalParticipant*>(this);
   return thisArduino->Send(remoteParticipant, bufferSize);
 #endif
 }
@@ -222,16 +200,13 @@ void LocalParticipant::PublishThingInfo(Thing* thing) {
 
 bool LocalParticipant::Publish(IMessage* msg) {
 #if defined(_WIN32) || defined(_WIN64)
-  Windows::LocalParticipant* thisWindows =
+  Windows::LocalParticipant* thisWindows = static_cast<Windows::LocalParticipant*>(this);
-      static_cast<Windows::LocalParticipant*>(this);
   return thisWindows->Publish(msg);
 #elif defined(__unix__) || defined(__APPLE__)
-  Posix::LocalParticipant* thisPosix =
+  Posix::LocalParticipant* thisPosix = static_cast<Posix::LocalParticipant*>(this);
-      static_cast<Posix::LocalParticipant*>(this);
   return thisPosix->Publish(msg);
 #elif defined(ARDUINO)
-  Arduino::LocalParticipant* thisArduino =
+  Arduino::LocalParticipant* thisArduino = static_cast<Arduino::LocalParticipant*>(this);
-      static_cast<Arduino::LocalParticipant*>(this);
   return thisArduino->Publish(msg);
 #endif
 }
@@ -241,11 +216,8 @@ bool LocalParticipant::Publish(IMessage* msg) {
 
 #pragma region Receive
 
-void LocalParticipant::ReceiveData(unsigned char packetSize,
+void LocalParticipant::ReceiveData(unsigned char packetSize, char* senderIpAddress, unsigned int senderPort) {
-                                   char* senderIpAddress,
+  Participant* remoteParticipant = this->GetParticipant(senderIpAddress, senderPort);
-                                   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
@@ -258,8 +230,7 @@ void LocalParticipant::ReceiveData(unsigned char packetSize,
   ReceiveData(packetSize, remoteParticipant);
 }
 
-void LocalParticipant::ReceiveData(unsigned char bufferSize,
+void LocalParticipant::ReceiveData(unsigned char bufferSize, Participant* remoteParticipant) {
-                                   Participant* remoteParticipant) {
   unsigned char msgId = this->buffer[0];
   // std::cout << "receive msg " << (int)msgId << "\n";
   switch (msgId) {
@@ -304,11 +275,10 @@ void LocalParticipant::ReceiveData(unsigned char bufferSize,
 void LocalParticipant::Process(Participant* sender, ParticipantMsg* msg) {}
 
 void LocalParticipant::Process(Participant* sender, SiteMsg* msg) {
-  // std::cout << this->name << ": process NetworkId [" << (int)this->networkId
+  std::cout << this->name << ": process NetworkId [" << (int)this->networkId << "/" << (int)msg->networkId << "]\n";
-  //           << "/" << (int)msg->networkId << "]\n";
   if (this->networkId != msg->networkId) {
     this->networkId = msg->networkId;
-    // std::cout << this->things.size() << " things\n";
+    std::cout << this->things.size() << " things\n";
     for (Thing* thing : this->things)
       this->SendThingInfo(sender, thing);
   }
@@ -325,27 +295,22 @@ void LocalParticipant::Process(Participant* sender, NameMsg* msg) {
     int stringLen = nameLength + 1;
     char* thingName = new char[stringLen];
 #if defined(_WIN32) || defined(_WIN64)
-    strncpy_s(thingName, stringLen, msg->name,
+    strncpy_s(thingName, stringLen, msg->name, stringLen - 1);  // Leave space for null terminator
-              stringLen - 1);  // Leave space for null terminator
 #else
-    // Use strncpy with bounds checking for other platforms (Arduino, POSIX,
+    // Use strncpy with bounds checking for other platforms (Arduino, POSIX, ESP-IDF)
-    // ESP-IDF)
+    strncpy(thingName, msg->name, stringLen - 1);  // Leave space for null terminator
-    strncpy(thingName, msg->name,
-            stringLen - 1);           // Leave space for null terminator
     thingName[stringLen - 1] = '\0';               // Ensure null termination
 #endif
     thingName[nameLength] = '\0';
     thing->name = thingName;
-    // std::cout << "thing name = " << thing->name << " length = " << nameLength
+    std::cout << "thing name = " << thing->name << " length = " << nameLength << "\n";
-    //           << "\n";
   }
 }
 
 void LocalParticipant::Process(Participant* sender, PoseMsg* msg) {}
 
 void LocalParticipant::Process(Participant* sender, BinaryMsg* msg) {
-  // std::cout << this->name << ": process Binary [" << (int)this->networkId <<
+  // std::cout << this->name << ": process Binary [" << (int)this->networkId << "/"
-  // "/"
   //           << (int)msg->networkId << "]\n";
   Thing* thing = sender->Get(msg->networkId, msg->thingId);
   if (thing != nullptr)
@@ -354,9 +319,8 @@ void LocalParticipant::Process(Participant* sender, BinaryMsg* msg) {
     thing = this->Get(msg->networkId, msg->thingId);
     if (thing != nullptr)
       thing->ProcessBinary(msg->bytes);
-    // else
+    else
-    //   std::cout << "custom msg for unknown thing [" << (int)msg->networkId
+      std::cout << "custom msg for unknown thing [" << (int)msg->networkId << "/" << (int)msg->thingId << "]\n";
-    //             << "/" << (int)msg->thingId << "]\n";
   }
 }
 

LocalParticipant.h

@@ -10,9 +10,7 @@
 #include "Messages/ThingMsg.h"
 #include "Participant.h"
 
-#if !defined(NO_STD)
 #include <list>
-#endif
 
 #if defined(_WIN32) || defined(_WIN64)
 #include <winsock2.h>
@@ -22,41 +20,34 @@
 #include <sys/socket.h>
 #include <unistd.h>
 #elif defined(ARDUINO)
-// #include <WiFiUdp.h>
+#include <WiFiUdp.h>
 #endif
 
 namespace RoboidControl {
 
-constexpr int MAX_SENDER_COUNT = 256;
+/// @brief A local participant is the local device which can communicate with other participants
-
+/// It manages all local things and communcation with other participants.
-/// @brief A local participant is the local device which can communicate with
+/// Each application has a local participant which is usually explicit in the code.
-/// other participants It manages all local things and communcation with other
+/// An participant can be isolated. In that case it is standalong and does not communicate with other participants.
-/// participants. Each application has a local participant which is usually
-/// explicit in the code. An participant can be isolated. In that case it is
-/// standalong and does not communicate with other participants.
 ///
-/// It is possible to work with an hidden participant by creating things without
+/// It is possible to work with an hidden participant by creating things without specifying a participant in the
-/// specifying a participant in the constructor. In that case an hidden isolated
+/// constructor. In that case an hidden isolated participant is created which can be
-/// participant is created which can be obtained using
+/// obtained using RoboidControl::LocalParticipant::Isolated().
-/// RoboidControl::LocalParticipant::Isolated().
 /// @sa RoboidControl::Thing::Thing()
 class LocalParticipant : public Participant {
  public:
   /// @brief Create a participant without connecting to a site
   /// @param port The port on which the participant communicates
-  /// These participant typically broadcast Participant messages to let site
+  /// These participant typically broadcast Participant messages to let site servers on the local network know their presence.
-  /// servers on the local network know their presence. Alternatively they can
+  /// Alternatively they can broadcast information which can be used directly by other participants.
-  /// broadcast information which can be used directly by other participants.
   LocalParticipant(int port = 7681);
   /// @brief Create a participant which will try to connect to a site.
   /// @param ipAddress The IP address of the site
   /// @param port The port used by the site
   LocalParticipant(const char* ipAddress, int port = 7681);
-  // Note to self: one cannot specify the port used by the local participant
+  // Note to self: one cannot specify the port used by the local participant now!!
-  // now!!
 
-  /// @brief Isolated participant is used when the application is run without
+  /// @brief Isolated participant is used when the application is run without networking
-  /// networking
   /// @return A participant without networking support
   static LocalParticipant* Isolated();
 
@@ -64,8 +55,7 @@ class LocalParticipant : public Participant {
   /// Isolated participants do not communicate with other participants
   bool isIsolated = false;
 
-  /// The interval in milliseconds for publishing (broadcasting) data on the
+  /// The interval in milliseconds for publishing (broadcasting) data on the local network
-  /// local network
   long publishInterval = 3000;  // 3 seconds
 
   /// @brief The name of the participant
@@ -77,11 +67,11 @@ class LocalParticipant : public Participant {
   Participant* remoteSite = nullptr;
 
 #if defined(ARDUINO)
-  // const char* remoteIpAddress = nullptr;
+  const char* remoteIpAddress = nullptr;
-  // unsigned short remotePort = 0;
+  unsigned short remotePort = 0;
-  // char* broadcastIpAddress = nullptr;
+  char* broadcastIpAddress = nullptr;
 
-  // WiFiUDP udp;
+  WiFiUDP udp;
 #else
 
 #if defined(__unix__) || defined(__APPLE__)
@@ -104,17 +94,10 @@ class LocalParticipant : public Participant {
   bool Send(Participant* remoteParticipant, IMessage* msg);
   bool Publish(IMessage* msg);
 
-  void ReceiveData(unsigned char bufferSize,
+  void ReceiveData(unsigned char bufferSize, char* senderIpAddress, unsigned int senderPort);
-                   char* senderIpAddress,
-                   unsigned int senderPort);
   void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
 
-#if defined(NO_STD)
-  unsigned char senderCount = 0;
-  Participant* senders[MAX_SENDER_COUNT];
-#else
   std::list<Participant*> senders;
-#endif
 
  protected:
   unsigned long nextPublishMe = 0;

Messages/LowLevelMessages.cpp

@@ -1,6 +1,6 @@
 #include "LowLevelMessages.h"
 
-// #include <iostream>
+#include <iostream>
 #include "LinearAlgebra/float16.h"
 
 namespace RoboidControl {

Participant.cpp

@@ -42,24 +42,15 @@ Thing* Participant::Get(unsigned char networkId, unsigned char thingId) {
 void Participant::Add(Thing* thing, bool checkId) {
   if (checkId && thing->id == 0) {
     // allocate a new thing ID
-#if defined(NO_STD)
-    thing->id = this->thingCount + 1;
-    this->things[this->thingCount++] = thing;
-#else
     thing->id = (unsigned char)this->things.size() + 1;
     this->things.push_back(thing);
-#endif
     // 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) {
-#if defined(NO_STD)
-      this->things[this->thingCount++] = thing;
-#else
       this->things.push_back(thing);
-#endif
       // std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
       // "[" << (int)thing->networkId << "/"
       //           << (int)thing->id << "]\n";
@@ -72,24 +63,9 @@ void Participant::Add(Thing* thing, bool checkId) {
 }
 
 void Participant::Remove(Thing* thing) {
-#if defined(NO_STD)
-  for (unsigned char thingIx = 0; thingIx < this->thingCount; thingIx++)
-    if (this->things[thingIx] == thing)
-      this->things[thingIx] = nullptr;
-  // compacting
-  unsigned char lastThingIx = 0;
-  for (unsigned char thingIx = 0; thingIx < this->thingCount; thingIx++) {
-    if (this->things[thingIx] == nullptr)
-      continue;
-    this->things[lastThingIx] = this->things[thingIx];
-    lastThingIx++;
-  }
-  this->thingCount = lastThingIx;
-#else
   this->things.remove_if([thing](Thing* obj) { return obj == thing; });
   std::cout << "Removing " << thing->networkId << "/" << thing->id
             << " list size = " << this->things.size() << "\n";
-#endif
 }
 
 // void Participant::UpdateAll(unsigned long currentTimeMs) {

Participant.h

@@ -3,21 +3,16 @@
 
 namespace RoboidControl {
 
-constexpr int MAX_THING_COUNT = 256;
-
 /// @brief A participant is a device which manages things.
-/// It can communicate with other participant to synchronise the state of
+/// It can communicate with other participant to synchronise the state of things.
-/// things. This class is used to register the things the participant is
+/// This class is used to register the things the participant is managing.
-/// managing. It also maintains the communcation information to contact the
+/// It also maintains the communcation information to contact the participant.
-/// participant. It is used as a basis for the local participant, but also as a
+/// It is used as a basis for the local participant, but also as a reference to remote participants.
-/// reference to remote participants.
 class Participant {
- public:
+public:
-  /// @brief The Ip Address of a participant. When the participant is local,
+  /// @brief The Ip Address of a participant. When the participant is local, this contains 0.0.0.0
-  /// this contains 0.0.0.0
+  const char *ipAddress = "0.0.0.0";
-  const char* ipAddress = "0.0.0.0";
+  /// @brief The port number for UDP communication with the participant. This is 0 for isolated participants.
-  /// @brief The port number for UDP communication with the participant. This is
-  /// 0 for isolated participants.
   int port = 0;
 
   /// @brief The network Id to identify the participant.
@@ -29,34 +24,29 @@ class Participant {
   /// @brief Create a new participant with the given communcation info
   /// @param ipAddress The IP address of the participant
   /// @param port The port of the participant
-  Participant(const char* ipAddress, int port);
+  Participant(const char *ipAddress, int port);
   /// @brief Destructor for the participant
   ~Participant();
 
- protected:
+protected:
-#if defined(NO_STD)
-  unsigned char thingCount = 0;
-  Thing* things[MAX_THING_COUNT];
-#else
   /// @brief The list of things managed by this participant
-  std::list<Thing*> things;
+  std::list<Thing *> things;
-#endif
 
- public:
+public:
   /// @brief Find a thing managed by this participant
   /// @param networkId The network ID for the thing
   /// @param thingId The ID of the thing
   /// @return The thing if found or nullptr when no thing has been found
   /// @note The use of the network ID is likely to disappear in future versions.
-  Thing* Get(unsigned char networkId, unsigned char thingId);
+  Thing *Get(unsigned char networkId, unsigned char thingId);
   /// @brief Add a new thing for this participant. 
   /// @param thing The thing to add
-  /// @param checkId Checks the thing ID of the thing. If it is 0, a new thing
+  /// @param checkId Checks the thing ID of the thing. If it is 0, a new thing Id will be assigned.
-  /// Id will be assigned.
+  void Add(Thing *thing, bool checkId = true);
-  void Add(Thing* thing, bool checkId = true);
   /// @brief Remove a thing for this participant
   /// @param thing The thing to remove
-  void Remove(Thing* thing);
+  void Remove(Thing *thing);
+
 };
 
-}  // namespace RoboidControl
+} // namespace Control

README.md

@@ -9,9 +9,6 @@ Supporting:
     - ESP8266
     - ESP32
     - UNO R4 WiFi
-    - ESP8266
-    - ESP32
-    - UNO R4 WiFi
 
 # Basic components
 

SiteServer.cpp

@@ -2,10 +2,8 @@
 
 #include "Things/TemperatureSensor.h"
 
-#if !defined(NO_STD)
 #include <functional>
 #include <memory>
-#endif
 
 namespace RoboidControl {
 
@@ -16,49 +14,37 @@ SiteServer::SiteServer(int port) {
   this->ipAddress = "0.0.0.0";
   this->port = port;
 
-#if defined(NO_STD)
-  this->senders[this->senderCount++] = this;
-#else
   this->senders.push_back(this);
-#endif
 
   SetupUDP(port, ipAddress, 0);
 
-#if !defined(NO_STD)
   Register<TemperatureSensor>((unsigned char)Thing::Type::TemperatureSensor);
-#endif
 }
 
-void SiteServer::Process(Participant* sender, ParticipantMsg* msg) {
+void SiteServer::Process(Participant *sender, ParticipantMsg *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->port << "\n";
-    //           << ":" << (int)sender->port << "\n";
+    SiteMsg *msg = new SiteMsg(sender->networkId);
-    SiteMsg* msg = new SiteMsg(sender->networkId);
     this->Send(sender, msg);
     delete msg;
   }
 }
 
-void SiteServer::Process(Participant* sender, SiteMsg* msg) {}
+void SiteServer::Process(Participant *sender, SiteMsg *msg) {}
 
-void SiteServer::Process(Participant* sender, ThingMsg* msg) {
+void SiteServer::Process(Participant *sender, ThingMsg *msg) {
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
+  Thing *thing = sender->Get(msg->networkId, msg->thingId);
   if (thing == nullptr) {
-#if defined(NO_STD)
-    new Thing(sender, msg->networkId, msg->thingId,
-              (Thing::Type)msg->thingType);
-#else
     auto thingMsgProcessor = thingMsgProcessors.find(msg->thingType);
-    Thing* newThing;
+    Thing *newThing;
     if (thingMsgProcessor != thingMsgProcessors.end()) // found item
-      newThing =
+      newThing = thingMsgProcessor->second(sender, msg->networkId, msg->thingId);
-          thingMsgProcessor->second(sender, msg->networkId, msg->thingId);
     else
       newThing = new Thing(sender, msg->networkId, msg->thingId,
                            (Thing::Type)msg->thingType);
-#endif
+    //sender->Add(newThing);
   }
 }
 
-}  // namespace RoboidControl
+} // namespace Control

SiteServer.h

@@ -2,11 +2,9 @@
 
 #include "LocalParticipant.h"
 
-#if !defined(NO_STD)
 #include <functional>
 #include <memory>
 #include <unordered_map>
-#endif
 
 namespace RoboidControl {
 
@@ -17,16 +15,12 @@ class SiteServer : public LocalParticipant {
 
   // virtual void Update(unsigned long currentTimeMs = 0) override;
 
-#if !defined(NO_STD)
   template <typename ThingClass>
   void Register(unsigned char thingType) {
-    thingMsgProcessors[thingType] = [](Participant* participant,
+    thingMsgProcessors[thingType] = [](Participant* participant, unsigned char networkId, unsigned char thingId) {
-                                       unsigned char networkId,
-                                       unsigned char thingId) {
       return new ThingClass(participant, networkId, thingId);
     };
   };
-#endif
 
  protected:
   unsigned long nextPublishMe = 0;
@@ -35,12 +29,8 @@ class SiteServer : public LocalParticipant {
   virtual void Process(Participant* sender, SiteMsg* msg) override;
   virtual void Process(Participant* sender, ThingMsg* msg) override;
 
-#if !defined(NO_STD)
+  using ThingConstructor = std::function<Thing*(Participant* 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;
-#endif
 };
 
 }  // namespace RoboidControl

Thing.cpp

@@ -1,16 +1,12 @@
 #include "Thing.h"
 
-#include "LocalParticipant.h"
-
 #include <string.h>
-// #include <algorithm>
+#include <algorithm>
-// #include <iostream>
+#include <chrono>
-// #include <list>
+#include <iostream>
-// #include <chrono>
+#include <list>
 
-#if defined(ARDUINO)
+#include "LocalParticipant.h"
-#include "Arduino.h"
-#endif
 
 namespace RoboidControl {
 
@@ -173,18 +169,18 @@ void Thing::SetModel(const char* url) {
 }
 
 unsigned long Thing::GetTimeMs() {
-#if defined(ARDUINO)
-  return millis();
-#else
   auto now = std::chrono::steady_clock::now();
   auto ms = std::chrono::duration_cast<std::chrono::milliseconds>(
       now.time_since_epoch());
   return static_cast<unsigned long>(ms.count());
-#endif
 }
 
 void Thing::Update(bool recursive) {
+#if defined(ARDUINO)
+  Update(millis());
+#else
   Update(GetTimeMs(), recursive);
+#endif
 }
 
 void Thing::Update(unsigned long currentTimeMs, bool recursive) {
@@ -195,7 +191,7 @@ void Thing::Update(unsigned long currentTimeMs, bool recursive) {
       if (child == nullptr)
         continue;
       child->Update(currentTimeMs, recursive);
-}
+    }
   }
 }
 

Thing.h

@@ -1,9 +1,6 @@
 #pragma once
-
-#if !defined(NO_STD)
 #include <iostream>
 #include <list>
-#endif
 #include "LinearAlgebra/Spherical.h"
 #include "LinearAlgebra/SwingTwist.h"
 

Things/DifferentialDrive.cpp

@@ -24,7 +24,6 @@ void DifferentialDrive::SetDriveDimensions(float wheelDiameter,
 void DifferentialDrive::SetMotors(Thing* leftWheel, Thing* rightWheel) {
   float distance = this->wheelSeparation / 2;
   this->leftWheel = leftWheel;
-  ;
   if (leftWheel != nullptr)
     this->leftWheel->SetPosition(Spherical(distance, Direction::left));
 

Things/TemperatureSensor.cpp

@@ -6,11 +6,9 @@ namespace RoboidControl {
 
 // TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
 
-// TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
+//TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
 
-TemperatureSensor::TemperatureSensor(Participant* participant,
+TemperatureSensor::TemperatureSensor(Participant* participant, unsigned char networkId, unsigned char thingId)
-                                     unsigned char networkId,
-                                     unsigned char thingId)
     : Thing(participant, networkId, thingId, Type::TemperatureSensor) {}
 
 void TemperatureSensor::SetTemperature(float temp) {
@@ -18,7 +16,7 @@ void TemperatureSensor::SetTemperature(float temp) {
 }
 
 void TemperatureSensor::GenerateBinary(char* buffer, unsigned char* ix) {
-  // std::cout << "Send temperature: " << this->temperature << "\n";
+  std::cout << "Send temperature: " << this->temperature << "\n";
   LowLevelMessages::SendFloat16(buffer, ix, this->temperature);
 }
 

Things/TouchSensor.cpp

@@ -13,8 +13,8 @@ TouchSensor::TouchSensor(Thing* parent) : Thing(parent->owner) {
 void TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {}
 
 void TouchSensor::ProcessBinary(char* bytes) {
-  // if (bytes[0] == 1)
+  if (bytes[0] == 1)
-  //   std::cout << this->name << " is Touching something!\n";
+    std::cout << this->name << " is Touching something!\n";
   this->touchedSomething |= (bytes[0] == 1);
 }
 

library.json

@@ -1,20 +0,0 @@
-{
-    "name": "RoboidCOntrol",
-    "version": "0.3.0",
-    "description": "Controlling Roboids",
-    "keywords": "robotics, networking",
-    "authors": [
-        {
-            "name": "Pascal Serrarens",
-            "email": "pascal@passer.life"
-        }
-    ],
-    "license": "MPL",
-    "src": {
-        "include": "Thing.h",
-        "src": [
-            "Things/*.cpp",
-            "Arduino/*.cpp"
-        ]
-    }
-}