Merge branch 'main' of https://git.passer.life/RoboidControl/RoboidControl-cpp

Merge commit '90e89b2ecd49870e84af4b66fe41610e4855673c'
Squashed 'LinearAlgebra/' changes from bfa1123..72f1472
2025-06-02 12:26:25 +02:00 · 2025-06-02 12:26:07 +02:00 · 2025-05-26 14:04:37 +02:00
55 changed files with 749 additions and 2003 deletions
--- a/Arduino/ArduinoParticipant.cpp
+++ b/Arduino/ArduinoParticipant.cpp
@ -1,5 +1,4 @@
 #include "ArduinoParticipant.h"
 #if defined(ARDUINO)
 #if !defined(NO_STD)
 #include <iostream>
@ -22,6 +21,7 @@
 #endif
 namespace RoboidControl {
 namespace Arduino {
 #if defined(ARDUINO) && defined(HAS_WIFI)
 WiFiUDP* udp;
@ -88,7 +88,7 @@ void ParticipantUDP::Receive() {
 #endif
 }
-bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize) {
+bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(ARDUINO) && defined(HAS_WIFI)
  // std::cout << "Sending to:\n " << remoteParticipant->ipAddress << ":"
  // << remoteParticipant->port << "\n";
@ -131,5 +131,5 @@ bool ParticipantUDP::Publish(IMessage* msg) {
  return true;
 };
 }  // namespace Arduino
 }  // namespace RoboidControl
 #endif
--- a/Arduino/ArduinoParticipant.h
+++ b/Arduino/ArduinoParticipant.h
@ -1,15 +1,15 @@
 #pragma once
 #if defined(ARDUINO)
 #include "Participants/ParticipantUDP.h"
 namespace RoboidControl {
 namespace Arduino {
-class ParticipantUDP : public ParticipantUDPGeneric {
+class ParticipantUDP : public RoboidControl::ParticipantUDP {
 public:
  void Setup();
  void Receive();
-  bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
+  bool Send(Participant* remoteParticipant, int bufferSize);
  bool Publish(IMessage* msg);
 protected:
@ -18,5 +18,5 @@ class ParticipantUDP : public ParticipantUDPGeneric {
  void GetBroadcastAddress();
 };
 }  // namespace Arduino
 }  // namespace RoboidControl
 #endif
--- a/Arduino/Examples/BB2A/BB2A.cpp
+++ b/Arduino/Examples/BB2A/BB2A.cpp
@ -1,95 +0,0 @@
 #include "Arduino.h"
 #include "Things/ControlledMotor.h"
 #include "Things/DifferentialDrive.h"
 #include "Things/RelativeEncoder.h"
 #include "Things/TouchSensor.h"
 #include "Arduino/Things/DRV8833.h"
 #include "Arduino/Things/DigitalInput.h"
 #include "Arduino/Things/UltrasonicSensor.h"
 #include "Arduino/ArduinoUtils.h"
 #include "Participants/ParticipantUDP.h"
 #include "configuration.h"
 #include <iostream>
 using namespace RoboidControl;
 using namespace RoboidControl::Arduino;
 ParticipantUDPGeneric* localParticipant;
 DifferentialDrive* bb2b;
 TouchSensor* touchLeft;
 TouchSensor* touchRight;
 // RelativeEncoder* encoderLeft;
 // RelativeEncoder* encoderRight;
 void setup() {
  Serial.begin(115200);
  delay(3000);
  Serial.println("started");
  StartWifi("serrarens", "192.168.76.44");
  localParticipant = new ParticipantUDPGeneric("192.168.77.76");
  bb2b = new DifferentialDrive();
  touchLeft = new TouchSensor(bb2b);
  touchRight = new TouchSensor(bb2b);
  // bb2b = new DRV8833::DifferentialDrive(driveConfig);
  // touchLeft = new UltrasonicSensor::TouchSensor(leftTouchConfig, bb2b);
  // touchRight = new UltrasonicSensor::TouchSensor(rightTouchConfig, bb2b);
  touchLeft->name = "Left Touch Sensor";
  touchLeft->SetPosition(Spherical::Degrees(0.15, -30, 0));
  touchRight->name = "Right Touch Sensor";
  touchRight->SetPosition(Spherical::Degrees(0.15, 30, 0));
  // encoderLeft = new DigitalInput::RelativeEncoder(leftEncoderConfig);
  // encoderRight = new DigitalInput::RelativeEncoder(rightEncoderConfig);
  // bb2b->leftWheel = new ControlledMotor(bb2b->leftWheel, encoderLeft, bb2b);
  // bb2b->rightWheel = new ControlledMotor(bb2b->rightWheel, encoderRight, bb2b);
 }
 void loop() {
  // std::cout << touchLeft->touchedSomething << " | "
  //           << touchRight->touchedSomething << std::endl;
  // std::cout << encoderLeft->rotationSpeed << " : "
  //           << encoderRight->rotationSpeed << std::endl;
  // std::cout << bb2b->leftWheel->encoder->rotationSpeed
  //           << " :: " << bb2b->rightWheel->encoder->rotationSpeed << std::endl;
  // The left wheel turns forward when nothing is touched on the right side
  // and turn backward when the roboid hits something on the right
  float leftMotorVelocity = (touchRight->IsTouching()) ? -1.0f : 1.0f;
  // The right wheel does the same, but instead is controlled by
  // touches on the left side
  float rightMotorVelocity = (touchLeft->IsTouching()) ? -1.0f : 1.0f;
  // When both sides are touching something, both wheels will turn backward
  // and the roboid will move backwards
  bb2b->leftWheel->SetTargetVelocity(leftMotorVelocity);
  bb2b->rightWheel->SetTargetVelocity(rightMotorVelocity);
  // std::cout << "  " << bb2b->leftWheel->GetTargetVelocity() << " : " << bb2b->rightWheel->GetTargetVelocity() << std::endl;
  // float leftWheelVelocity = (touchRight->touchedSomething) ? -1.0f : 1.0f;
  // float rightWheelVelocity = (touchLeft->touchedSomething) ? -1.0f : 1.0f;
  // bb2b->SetWheelVelocity(leftWheelVelocity, rightWheelVelocity);
  // std::cout << "  " << leftWheelVelocity << " # " << rightWheelVelocity << std::endl;
  // std::cout << leftMotor->actualVelocity << std::endl;
  //Serial.println(".");
  // Update the roboid state
  localParticipant->Update();
  // and sleep for 100ms
  delay(10);
 }
--- a/Arduino/Examples/BB2A/configuration.h
+++ b/Arduino/Examples/BB2A/configuration.h
@ -1,52 +0,0 @@
 #pragma once
 #include "Arduino/Things/UltrasonicSensor.h"
 #include "Arduino/Things/DRV8833.h"
 #include "Arduino/Things/DigitalInput.h"
 using namespace RoboidControl::Arduino;
 #if defined(ESP32)
 static constexpr DRV8833::Configuration driveConfig = {
    17,  // AIn1
    16,  // AIn2
    14,  // BIn1
    27   // BIn2
 };
 static constexpr UltrasonicSensor::Configuration leftTouchConfig = {
    25,  // Trigger
    33   // Echo
 };
 static constexpr UltrasonicSensor::Configuration rightTouchConfig = {
    15,  // Trigger
    5    // Echo
 };
 #elif defined(UNO) || defined(UNO_R4)
 static constexpr DRV8833::Configuration driveConfig = {
    5,  // AIn1
    6,  // AIn2
    7,  // BIn1
    10  // BIn2
 };
 static constexpr UltrasonicSensor::Configuration leftTouchConfig = {
    A0,  // Trigger
    12   // Echo
 };
 static constexpr UltrasonicSensor::Configuration rightTouchConfig = {
    A1,  // Trigger
    11   // Echo
 };
 static constexpr DigitalInput::RelativeEncoder::Configuration
    leftEncoderConfig = {
        2,  // Input pin
        80  // Pulses per revolution
 };
 static constexpr DigitalInput::RelativeEncoder::Configuration
    rightEncoderConfig = {
        3,  // Input pin
        80  // Pulses per revolution
 };
 #endif
--- a/Arduino/Things/DRV8833.cpp
+++ b/Arduino/Things/DRV8833.cpp
@ -7,9 +7,7 @@ namespace Arduino {
 #pragma region DRV8833
-DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
+DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(Type::Undetermined, parent) {
  this->type = Type::Undetermined;
  this->name = "DRV8833";
  this->pinStandby = config.standby;
  if (pinStandby != 255)
    pinMode(pinStandby, OUTPUT);
@ -26,15 +24,14 @@ DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
 DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
                                              Thing* parent)
-    : RoboidControl::DifferentialDrive(nullptr, nullptr, parent) {
+    : RoboidControl::DifferentialDrive(this->drv8833.motorA,
-  this->drv8833 = new DRV8833(config, this);
+                                       this->drv8833.motorB,
-  this->leftWheel = this->drv8833->motorA;
+                                       parent),
-  this->rightWheel = this->drv8833->motorB;
+      drv8833(config, this) {}
 }
 void DRV8833::DifferentialDrive::Update(bool recurse) {
  RoboidControl::DifferentialDrive::Update(recurse);
-  this->drv8833->Update(false);
+  this->drv8833.Update(false);
 }
 #pragma endregion Differential drive
@ -49,7 +46,8 @@ DRV8833Motor::DRV8833Motor(DRV8833* driver,
                           unsigned char pinIn1,
                           unsigned char pinIn2,
                           bool reverse)
-    : Motor(driver) {
+    : Motor() {
  this->SetParent(driver);
  this->pinIn1 = pinIn1;
  this->pinIn2 = pinIn2;
--- a/Arduino/Things/DRV8833.h
+++ b/Arduino/Things/DRV8833.h
@ -19,8 +19,6 @@ class DRV8833 : public Thing {
    int BIn1;
    int BIn2;
    int standby = 255;
    constexpr Configuration(int a1, int a2, int b1, int b2, int standby = 255) : AIn1(a1), AIn2(a2), BIn1(b1), BIn2(b2), standby(standby) {}
  };
  /// @brief Setup a DRV8833 motor controller
@ -45,7 +43,7 @@ class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
  virtual void Update(bool recurse = false) override;
 protected:
-  DRV8833* drv8833 = nullptr;
+  DRV8833 drv8833;
 };
 #pragma endregion Differential drive
--- a/Arduino/Things/DigitalInput.cpp
+++ b/Arduino/Things/DigitalInput.cpp
@ -7,9 +7,8 @@ namespace Arduino {
 #pragma region Digital input
-DigitalInput::DigitalInput(unsigned char pin, Thing* parent) : Thing(parent) {
+DigitalInput::DigitalInput(unsigned char pin, Thing* parent)
-  this->type = Type::Switch;
+    : Thing(Type::Undetermined, parent) {
  this->name = "Digital Input";
  this->pin = pin;
  pinMode(this->pin, INPUT);
  std::cout << "digital input start\n";
@ -29,7 +28,7 @@ DigitalInput::TouchSensor::TouchSensor(unsigned char pin, Thing* parent)
    : RoboidControl::TouchSensor(parent), digitalInput(pin, parent) {}
 void DigitalInput::TouchSensor::Update(bool recursive) {
-  this->internalTouch = digitalInput.isLow;
+  this->touchedSomething = digitalInput.isLow;
 }
 #pragma endregion Touch sensor
@ -98,8 +97,8 @@ void DigitalInput::RelativeEncoder::Update(bool recursive) {
  this->pulseFrequency = pulseCount / timeStep;
  this->rotationSpeed = pulseFrequency / pulsesPerRevolution;
-  // std::cout << "pulses: " << pulseCount << " per second " << pulseFrequency
+  std::cout << "pulses: " << pulseCount << " per second " << pulseFrequency
-  //           << " timestep " << timeStep << std::endl;
+            << " timestep " << timeStep << std::endl;
  this->lastUpdateTime = currentTimeMs;
 }
--- a/Arduino/Things/UltrasonicSensor.cpp
+++ b/Arduino/Things/UltrasonicSensor.cpp
@ -7,8 +7,7 @@ namespace RoboidControl {
 namespace Arduino {
 UltrasonicSensor::UltrasonicSensor(Configuration config, Thing* parent)
-    : Thing(parent) {
+    : Thing(Type::Undetermined, parent) {
  this->type = Type::DistanceSensor;
  this->name = "Ultrasonic sensor";
  this->pinTrigger = config.trigger;
  this->pinEcho = config.echo;
@ -57,28 +56,6 @@ void UltrasonicSensor::Update(bool recursive) {
  Thing::Update(recursive);
 }
 #pragma region Distance sensor
 UltrasonicSensor::DistanceSensor::DistanceSensor(
    UltrasonicSensor::Configuration config,
    Thing* parent)
    : RoboidControl::DistanceSensor(parent), ultrasonic(config, this) {}
 void UltrasonicSensor::DistanceSensor::Update(bool recursive) {
  RoboidControl::DistanceSensor::Update(recursive);
  this->ultrasonic.Update(false);
  if (this->ultrasonic.distance > 0)
    this->internalDistance = this->ultrasonic.distance;
  else
 #if ARDUNIO
    this->internalDistance = INFINITY;
 #else
    this->internalDistance = std::numeric_limits<float>::infinity();
 #endif
 }
 #pragma endregion Distance sensor
 #pragma region Touch sensor
 UltrasonicSensor::TouchSensor::TouchSensor(Configuration config, Thing* parent)
@ -87,11 +64,11 @@ UltrasonicSensor::TouchSensor::TouchSensor(Configuration config, Thing* parent)
 void UltrasonicSensor::TouchSensor::Update(bool recursive) {
  RoboidControl::TouchSensor::Update(recursive);
  this->ultrasonic.Update(false);
-  this->internalTouch = (this->ultrasonic.distance > 0 &&
+  this->touchedSomething |= (this->ultrasonic.distance > 0 &&
-                         this->ultrasonic.distance <= this->touchDistance);
+                            this->ultrasonic.distance <= this->touchDistance);
 }
-#pragma endregion Touch sensor
+#pragma region Touch sensor
 }  // namespace Arduino
 }  // namespace RoboidControl
--- a/Arduino/Things/UltrasonicSensor.h
+++ b/Arduino/Things/UltrasonicSensor.h
@ -1,6 +1,5 @@
 #pragma once
 #include "Things/DistanceSensor.h"
 #include "Things/TouchSensor.h"
 namespace RoboidControl {
@ -40,26 +39,9 @@ class UltrasonicSensor : Thing {
  unsigned char pinEcho = 0;
 public:
  class DistanceSensor;
  class TouchSensor;
 };
 #pragma region Distance sensor
 class UltrasonicSensor::DistanceSensor : public RoboidControl::DistanceSensor {
 public:
  DistanceSensor(UltrasonicSensor::Configuration config,
                 Thing* parent = Thing::LocalRoot());
  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
  virtual void Update(bool recursive = false) override;
 protected:
  UltrasonicSensor ultrasonic;
 };
 #pragma endregion Distance sensor
 #pragma region Touch sensor
 class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
@ -76,7 +58,7 @@ class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
  UltrasonicSensor ultrasonic;
 };
-#pragma endregion Touch sensor
+#pragma region Touch sensor
 }  // namespace Arduino
 }  // namespace RoboidControl
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -22,23 +22,43 @@ else()
    set(CMAKE_CXX_STANDARD 17)      # Enable c++11 standard
    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
    project(RoboidControl)
    add_subdirectory(LinearAlgebra)
    add_subdirectory(Examples)
    add_compile_definitions(GTEST)
    include(FetchContent)
    FetchContent_Declare(
        googletest
        DOWNLOAD_EXTRACT_TIMESTAMP ON
        URL https://github.com/google/googletest/archive/refs/heads/main.zip
    )
    # For Windows: Prevent overriding the parent project's compiler/linker settings
    set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
    FetchContent_MakeAvailable(googletest)
    include_directories(
        .
        LinearAlgebra
    )
    add_library(RoboidControl STATIC ${srcs})
-    target_include_directories(RoboidControl PUBLIC
+    
-        ${CMAKE_CURRENT_SOURCE_DIR}
+    enable_testing()
    file(GLOB_RECURSE test_srcs test/*_test.cc)
    add_executable(
        RoboidControlTest
        ${test_srcs}
    )
    target_link_libraries(
        RoboidControlTest
        gtest_main
        RoboidControl
        LinearAlgebra
    )
-    project(RoboidControl)
+    include(GoogleTest)
-    add_subdirectory(LinearAlgebra)
+    gtest_discover_tests(RoboidControlTest)
    # Examples
    option(BUILD_EXAMPLE_BB2A "Build BB2A Example" OFF)
    add_subdirectory(examples)
    enable_testing()
    add_subdirectory(test)
 endif()
--- a/DoxyGen/Doxyfile
+++ b/DoxyGen/Doxyfile
@ -48,7 +48,7 @@ PROJECT_NAME           = "Roboid Control for C++"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
-PROJECT_NUMBER         = 0.4
+PROJECT_NUMBER         =
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
--- a/EspIdf/EspIdfParticipant.cpp
+++ b/EspIdf/EspIdfParticipant.cpp
@ -2,13 +2,15 @@
 #if defined(IDF_VER)
 #include "esp_wifi.h"
 #endif
 #include <arpa/inet.h>
 namespace RoboidControl {
 namespace EspIdf {
-void ParticipantUDP::SetupUDP(int localPort,
+void ParticipantUDP::Setup(int localPort,
                           const char* remoteIpAddress,
                           int remotePort) {
 #if defined(IDF_VER)
  std::cout << "Set up UDP\n";
  GetBroadcastAddress();
@ -20,57 +22,42 @@ void ParticipantUDP::SetupUDP(int localPort,
  }
  // Create a UDP socket
-  this->sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+  this->sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
-  if (this->sock < 0) {
+  if (this->sockfd < 0) {
    std::cout << "Unable to create UDP socket: errno " << errno << "\n";
    vTaskDelete(NULL);
    return;
  }
-  /*
+  // Set up the server address structure
  // Set up the receiving(local) address
  struct sockaddr_in local_addr;
  memset(&local_addr, 0, sizeof(local_addr));
  local_addr.sin_family = AF_INET;
-  local_addr.sin_port = htons(localPort);
+  local_addr.sin_port = htons(this->port);
  local_addr.sin_addr.s_addr =
      htonl(INADDR_ANY);  // Listen on all available network interfaces
-  // Bind the socket to the receiving address
+  // Bind the socket to the address and port
-  if (bind(this->sock, (struct sockaddr*)&local_addr, sizeof(local_addr)) < 0) {
+  if (bind(this->sockfd, (struct sockaddr*)&local_addr, sizeof(local_addr)) <
      0) {
    std::cout << "Unable to bind UDP socket: errno " << errno << "\n";
-    close(sock);
+    close(sockfd);
    vTaskDelete(NULL);
    return;
  }
    */
-  // Initialize the destination(remote) address
+  // Initialize the dest_addr structure
  memset(&this->dest_addr, 0,
         sizeof(this->dest_addr));  // Clear the entire structure
  this->dest_addr.sin_family = AF_INET;
  this->dest_addr.sin_port = htons(this->remoteSite->port);
-  this->dest_addr.sin_addr.s_addr = inet_addr(this->remoteSite->ipAddress);
+  inet_pton(AF_INET, this->remoteSite->ipAddress,
-  // inet_pton(AF_INET, this->remoteSite->ipAddress,
+            &this->dest_addr.sin_addr.s_addr);
  //           &this->dest_addr.sin_addr.s_addr);
-    this->connected = true;
+  std::cout << "Wifi sync started local " << this->port << ", remote "
  std::cout << "Wifi sync started local " << localPort << ", remote "
            << this->remoteSite->ipAddress << ":" << this->remoteSite->port
            << "\n";
-
+#endif  // IDF_VER
  // std::cout << "socket: " << (int)this->sock << std::endl;
  // ParticipantMsg* msg = new ParticipantMsg(this->networkId);
  // int bufferSize = msg->Serialize(this->buffer);
  // int err = sendto(this->sock, buffer, bufferSize, 0,
  //                  (struct sockaddr*)&dest_addr, sizeof(dest_addr));
  // if (errno != 0)
  //   std::cout << "AASend error " << err << " or " << errno << "\n";
  // else
  //   std::cout << "AASend SUCCESS\n";
  //SendTest();
 }
 void ParticipantUDP::GetBroadcastAddress() {
@ -96,11 +83,10 @@ void ParticipantUDP::GetBroadcastAddress() {
 #endif  // IDF_VER
 }
-void ParticipantUDP::ReceiveUDP() {
+void ParticipantUDP::Receive() {
 #if defined(IDF_VER)
 /*
  struct pollfd fds[1];
-  fds[0].fd = sock;
+  fds[0].fd = sockfd;
  fds[0].events = POLLIN;  // We're looking for data available to read
  // Use poll() with a timeout of 0 to return immediately
@ -117,7 +103,7 @@ void ParticipantUDP::ReceiveUDP() {
  char sender_ipAddress[INET_ADDRSTRLEN];
  while (ret > 0 && fds[0].revents & POLLIN) {
-    int packetSize = recvfrom(this->sock, buffer, sizeof(buffer) - 1, 0,
+    int packetSize = recvfrom(this->sockfd, buffer, sizeof(buffer) - 1, 0,
                              (struct sockaddr*)&source_addr, &addr_len);
    if (packetSize < 0) {
      std::cout << "recvfrom() error\n";
@ -140,66 +126,18 @@ void ParticipantUDP::ReceiveUDP() {
    }
  }
  // std::cout << "no more messages\n";
-*/
+
 #endif  // IDF_VER
 }
-ParticipantUDP::ParticipantUDP(int port) : ParticipantUDPGeneric(port) {}
+bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
 ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
    : ParticipantUDPGeneric(ipAddress, port, localPort) {}
 // bool ParticipantUDP::SendTest() {
 // #if defined(IDF_VER)
 //   // std::cout << "socket: " << (int)this->sock << std::endl;
 //   // UBaseType_t stack_size = uxTaskGetStackHighWaterMark(NULL);  // NULL to check the main task
 //   // size_t free_heap = xPortGetFreeHeapSize();
 //   // std::cout <<  "Stack High Water Mark: " << stack_size << " heap " << free_heap << std::endl;
 //   ParticipantMsg* msg = new ParticipantMsg(this->networkId);
 //   int bSize = msg->Serialize(this->buffer);
 //   // std::cout << "buffer size " << bSize << std::endl;
 //   int err = sendto(this->sock, buffer, bSize, 0, (struct sockaddr*)&dest_addr,
 //                    sizeof(dest_addr));
 //   if (errno != 0)
 //     std::cout << "BBSend error " << err << " or " << errno << "\n";
 //   else
 //     std::cout << "BBSend SUCCESS\n";
 // #endif
 //   return true;
 // }
 bool ParticipantUDP::Send(IMessage* msg) {
  int bufferSize = msg->Serialize(this->buffer);
  if (bufferSize <= 0)
    return true;
  std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
            << " to " << this->remoteSite->ipAddress << std::endl;
  return this->SendTo(this->remoteSite, bufferSize);
 }
 bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant,
                            int bufferSize) {
 #if defined(IDF_VER)
-  uint16_t port = ntohs(dest_addr.sin_port);
+  // std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
  //           << remoteParticipant->port << "\n";
-  char ip_str[INET_ADDRSTRLEN];
+  int err = sendto(this->sockfd, buffer, bufferSize, 0,
-  inet_ntop(AF_INET, &dest_addr.sin_addr, ip_str, sizeof(ip_str));
+                   (struct sockaddr*)&dest_addr, sizeof(dest_addr));
-  std::cout << "Sending " << bufferSize << " bytes to " << ip_str << ":" << port << "\n";
+  if (errno != 0)
  // Print the IP address and port
  // printf("IP Address: %s\n", ip_str);
  // printf("Port: %d\n", port);
  this->dest_addr.sin_port = htons(remoteParticipant->port);
  this->dest_addr.sin_addr.s_addr = inet_addr(remoteParticipant->ipAddress);
  int err = sendto(this->sock, buffer, bufferSize, 0,
                   (struct sockaddr*)&this->dest_addr, sizeof(this->dest_addr));
  if (errno < 0)
    std::cout << "Send error " << err << " or " << errno << "\n";
 #endif
@ -216,7 +154,7 @@ bool ParticipantUDP::Publish(IMessage* msg) {
  dest_addr.sin_family = AF_INET;
  dest_addr.sin_port = htons(this->port);
  inet_pton(AF_INET, this->broadcastIpAddress, &dest_addr.sin_addr.s_addr);
-  int err = sendto(sock, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
+  int err = sendto(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
                   sizeof(dest_addr));
  if (err != 0)
    std::cout << "Publish error\n";
@ -224,6 +162,5 @@ bool ParticipantUDP::Publish(IMessage* msg) {
  return true;
 };
 }  // namespace EspIdf
 }  // namespace RoboidControl
 #endif
--- a/EspIdf/EspIdfParticipant.h
+++ b/EspIdf/EspIdfParticipant.h
@ -1,47 +1,26 @@
 #pragma once
 #if defined(IDF_VER)
 #include "Participants/ParticipantUDP.h"
 #if defined(IDF_VER)
 #include "lwip/sockets.h"
 #endif
 namespace RoboidControl {
 namespace EspIdf {
-class ParticipantUDP : public ParticipantUDPGeneric {
+class ParticipantUDP : public RoboidControl::ParticipantUDP {
 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
  /// servers on the local network know their presence. Alternatively they can
  /// broadcast information which can be used directly by other participants.
  ParticipantUDP(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
  /// @param localPort The port used by the local participant
  ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);
  void Setup(int localPort, const char* remoteIpAddress, int remotePort);
  void Receive();
-  bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
+  bool Send(Participant* remoteParticipant, int bufferSize);
  bool Publish(IMessage* msg);
  // bool SendTest();
  /// @brief Sens a message to the remote site (if set)
  /// @param msg The message to send
  /// @return True if a message could be sent.
  bool Send(IMessage* msg) override;
  void SetupUDP(int localPort,
                const char* remoteIpAddress,
                int remotePort) override;
  void ReceiveUDP() override;
 protected:
 #if defined(IDF_VER)
  char broadcastIpAddress[INET_ADDRSTRLEN];
-  int sock;
+  int sockfd;
  struct sockaddr_in dest_addr;
  // struct sockaddr_in src_addr;
 #endif
@ -49,6 +28,5 @@ class ParticipantUDP : public ParticipantUDPGeneric {
  void GetBroadcastAddress();
 };
 }  // namespace EspIdf
 }  // namespace RoboidControl
 #endif
--- a/Messages/LowLevelMessages.cpp
+++ b/Messages/LowLevelMessages.cpp
@ -5,83 +5,6 @@
 namespace RoboidControl {
 void LowLevelMessages::SendSpherical(char* buffer,
                                     unsigned char* ix,
                                     Spherical s) {
  SendFloat16(buffer, ix, s.distance);
  SendAngle8(buffer, ix, s.direction.horizontal.InDegrees());
  SendAngle8(buffer, ix, s.direction.vertical.InDegrees());
 }
 Spherical LowLevelMessages::ReceiveSpherical(const char* buffer,
                                             unsigned char* startIndex) {
  float distance = ReceiveFloat16(buffer, startIndex);
  Angle8 horizontal8 = ReceiveAngle8(buffer, startIndex);
  Angle horizontal = Angle::Radians(horizontal8.InRadians());
  Angle8 vertical8 = ReceiveAngle8(buffer, startIndex);
  Angle vertical = Angle::Radians(vertical8.InRadians());
  Spherical s = Spherical(distance, horizontal, vertical);
  return s;
 }
 void LowLevelMessages::SendSwingTwist(char* buffer,
                                      unsigned char* ix,
                                      SwingTwist s) {
  SendAngle8(buffer, ix, s.swing.horizontal.InDegrees());
  SendAngle8(buffer, ix, s.swing.vertical.InDegrees());
  SendAngle8(buffer, ix, s.twist.InDegrees());
 }
 SwingTwist LowLevelMessages::ReceiveSwingTwist(const char* buffer,
                                               unsigned char* startIndex) {
  Angle8 horizontal8 = ReceiveAngle8(buffer, startIndex);
  Angle horizontal = Angle::Radians(horizontal8.InRadians());
  Angle8 vertical8 = ReceiveAngle8(buffer, startIndex);
  Angle vertical = Angle::Radians(vertical8.InRadians());
  Angle8 twist8 = ReceiveAngle8(buffer, startIndex);
  Angle twist = Angle::Radians(twist8.InRadians());
  SwingTwist s = SwingTwist(horizontal, vertical, twist);
  return s;
 }
 void LowLevelMessages::SendQuat32(char* buffer,
                                  unsigned char* ix,
                                  SwingTwist rotation) {
  Quaternion q = rotation.ToQuaternion();
  unsigned char qx = (char)(q.x * 127 + 128);
  unsigned char qy = (char)(q.y * 127 + 128);
  unsigned char qz = (char)(q.z * 127 + 128);
  unsigned char qw = (char)(q.w * 255);
  if (q.w < 0) {
    qx = -qx;
    qy = -qy;
    qz = -qz;
    qw = -qw;
  }
  // std::cout << (int)qx << "," << (int)qy << "," << (int)qz << "," << (int)qw
  // << "\n";
  buffer[(*ix)++] = qx;
  buffer[(*ix)++] = qy;
  buffer[(*ix)++] = qz;
  buffer[(*ix)++] = qw;
 }
 SwingTwist LowLevelMessages::ReceiveQuat32(const char* buffer,
                                           unsigned char* ix) {
  float qx = (buffer[(*ix)++] - 128.0F) / 127.0F;
  float qy = (buffer[(*ix)++] - 128.0F) / 127.0F;
  float qz = (buffer[(*ix)++] - 128.0F) / 127.0F;
  float qw = buffer[(*ix)++] / 255.0F;
  Quaternion q = Quaternion(qx, qy, qz, qw);
  SwingTwist s = SwingTwist::FromQuaternion(q);
  return s;
 }
 void LowLevelMessages::SendAngle8(char* buffer,
                                  unsigned char* ix,
                                  const float angle) {
@ -119,5 +42,58 @@ float LowLevelMessages::ReceiveFloat16(const char* buffer,
  return (float)f.toFloat();
 }
 void LowLevelMessages::SendSpherical(char* buffer,
                                     unsigned char* ix,
                                     Spherical s) {
  SendFloat16(buffer, ix, s.distance);
  SendAngle8(buffer, ix, s.direction.horizontal.InDegrees());
  SendAngle8(buffer, ix, s.direction.vertical.InDegrees());
 }
 Spherical LowLevelMessages::ReceiveSpherical(const char* buffer,
                                             unsigned char* startIndex) {
  float distance = ReceiveFloat16(buffer, startIndex);
  Angle8 horizontal8 = ReceiveAngle8(buffer, startIndex);
  Angle horizontal = Angle::Radians(horizontal8.InRadians());
  Angle8 vertical8 = ReceiveAngle8(buffer, startIndex);
  Angle vertical = Angle::Radians(vertical8.InRadians());
  Spherical s = Spherical(distance, horizontal, vertical);
  return s;
 }
 void LowLevelMessages::SendQuat32(char* buffer,
                                  unsigned char* ix,
                                  SwingTwist rotation) {
  Quaternion q = rotation.ToQuaternion();
  unsigned char qx = (char)(q.x * 127 + 128);
  unsigned char qy = (char)(q.y * 127 + 128);
  unsigned char qz = (char)(q.z * 127 + 128);
  unsigned char qw = (char)(q.w * 255);
  if (q.w < 0) {
    qx = -qx;
    qy = -qy;
    qz = -qz;
    qw = -qw;
  }
  // std::cout << (int)qx << "," << (int)qy << "," << (int)qz << "," << (int)qw
  // << "\n";
  buffer[(*ix)++] = qx;
  buffer[(*ix)++] = qy;
  buffer[(*ix)++] = qz;
  buffer[(*ix)++] = qw;
 }
 SwingTwist LowLevelMessages::ReceiveQuat32(const char* buffer,
                                           unsigned char* ix) {
  float qx = (buffer[(*ix)++] - 128.0F) / 127.0F;
  float qy = (buffer[(*ix)++] - 128.0F) / 127.0F;
  float qz = (buffer[(*ix)++] - 128.0F) / 127.0F;
  float qw = buffer[(*ix)++] / 255.0F;
  Quaternion q = Quaternion(qx, qy, qz, qw);
  SwingTwist s = SwingTwist::FromQuaternion(q);
  return s;
 }
 }  // namespace RoboidControl
--- a/Messages/LowLevelMessages.h
+++ b/Messages/LowLevelMessages.h
@ -11,10 +11,6 @@ class LowLevelMessages {
  static Spherical ReceiveSpherical(const char* buffer,
                                    unsigned char* startIndex);
  static void SendSwingTwist(char* buffer, unsigned char* ix, SwingTwist s);
  static SwingTwist ReceiveSwingTwist(const char* buffer,
                                      unsigned char* startIndex);
  static void SendQuat32(char* buffer, unsigned char* ix, SwingTwist q);
  static SwingTwist ReceiveQuat32(const char* buffer, unsigned char* ix);
--- a/Messages/PoseMsg.cpp
+++ b/Messages/PoseMsg.cpp
@ -8,11 +8,11 @@ PoseMsg::PoseMsg(unsigned char networkId, Thing* thing, bool force) {
  this->thingId = thing->id;
  this->poseType = 0;
-  if (thing->positionUpdated || (force || thing->IsRoot())) {
+  if (thing->positionUpdated || (force && thing->IsRoot())) {
    this->position = thing->GetPosition();
    this->poseType |= Pose_Position;
  }
-  if (thing->orientationUpdated || (force || thing->IsRoot())) {
+  if (thing->orientationUpdated || (force && thing->IsRoot())) {
    this->orientation = thing->GetOrientation();
    this->poseType |= Pose_Orientation;
  }
@ -34,7 +34,7 @@ PoseMsg::PoseMsg(const char* buffer) {
  this->thingId = buffer[ix++];
  this->poseType = buffer[ix++];
  this->position = LowLevelMessages::ReceiveSpherical(buffer, &ix);
-  this->orientation = LowLevelMessages::ReceiveSwingTwist(buffer, &ix);
+  this->orientation = LowLevelMessages::ReceiveQuat32(buffer, &ix);
  // linearVelocity
  // angularVelocity
 }
@ -57,7 +57,7 @@ unsigned char PoseMsg::Serialize(char* buffer) {
  if ((this->poseType & Pose_Position) != 0)
    LowLevelMessages::SendSpherical(buffer, &ix, this->position);
  if ((this->poseType & Pose_Orientation) != 0)
-    LowLevelMessages::SendSwingTwist(buffer, &ix, this->orientation);
+    LowLevelMessages::SendQuat32(buffer, &ix, this->orientation);
  if ((this->poseType & Pose_LinearVelocity) != 0)
    LowLevelMessages::SendSpherical(buffer, &ix, this->linearVelocity);
  if ((this->poseType & Pose_AngularVelocity) != 0)
--- a/Messages/TextMsg.h
+++ b/Messages/TextMsg.h
@ -1,5 +1,3 @@
 #pragma once
 #include "IMessage.h"
 namespace RoboidControl {
--- a/Messages/ThingMsg.h
+++ b/Messages/ThingMsg.h
@ -1,5 +1,3 @@
 #pragma once
 #include "IMessage.h"
 #include "Thing.h"
--- a/Participant.cpp
+++ b/Participant.cpp
@ -1,15 +1,13 @@
 #include "Participant.h"
 #include <string.h>
 #include "Arduino/ArduinoParticipant.h"
 #include "EspIdf/EspIdfParticipant.h"
 #include "Posix/PosixParticipant.h"
 #include "Windows/WindowsParticipant.h"
 namespace RoboidControl {
 #pragma region Participant
 ParticipantRegistry Participant::registry;
 Participant* Participant::LocalParticipant = new Participant();
 void Participant::ReplaceLocalParticipant(Participant& newParticipant) {
@ -18,14 +16,17 @@ void Participant::ReplaceLocalParticipant(Participant& newParticipant) {
 }
 Participant::Participant() {
-  Thing::CreateRoot(this);
+  std::cout << "P\n";
-  //this->Add(this->root);
+  //this->root.name = "Isolated";
  this->root = new Thing(this);
  this->root->name = "Root";
  this->Add(this->root);
 }
 /*
 Participant::Participant(const char* ipAddress, int port) {
-  Thing::CreateRoot(this);
+  // Add the root thing to the list of things, because we could not do that
-  //this->Add(this->root);
+  // earlier (I think)
  this->Add(this->root);
  // make a copy of the ip address string
  int addressLength = (int)strlen(ipAddress);
@ -42,62 +43,27 @@ Participant::Participant(const char* ipAddress, int port) {
  this->ipAddress = addressString;
  this->port = port;
 }
-*/
+
 Participant::~Participant() {
  // registry.Remove(this);
-  // delete[] this->ipAddress;
+  delete[] this->ipAddress;
 }
-void Participant::Update(bool recurse) {
+void Participant::Update() {
  for (Thing* thing : this->things) {
    if (thing != nullptr)
-      thing->Update();
+      thing->Update(true);
  }
 }
-bool Participant::Send(IMessage* msg) {
+Thing* Participant::Get(unsigned char thingId) {
    std::cout << "sending message " << (static_cast<int>(this->buffer[0]) & 0xff)
            << " to base Participant without communcation support " << std::endl;
  return true;
 }
 /*
 bool Participant::Send(IMessage* msg) {
  int bufferSize = msg->Serialize(this->buffer);
  if (bufferSize <= 0)
    return true;
  // std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
  //           << " to " << this->ipAddress << std::endl;
 #if defined(_WIN32) || defined(_WIN64)
  Windows::ParticipantUDP* thisWindows =
      static_cast<Windows::ParticipantUDP*>(this);
  return thisWindows->SendTo(this, bufferSize);
 #elif defined(__unix__) || defined(__APPLE__)
  Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
  return thisPosix->SendTo(this, bufferSize);
 #elif defined(ARDUINO)
  Arduino::ParticipantUDP* thisArduino =
      static_cast<Arduino::ParticipantUDP*>(this);
  return thisArduino->SendTo(this, bufferSize);
 #elif defined(IDF_VER)
  EspIdf::ParticipantUDP* thisEspIdf =
      static_cast<EspIdf::ParticipantUDP*>(this);
  return thisEspIdf->SendTo(this, bufferSize);
 #else
  return false;
 #endif
 }
 */
 Thing* Participant::Get(unsigned char networkId, unsigned char thingId) {
  for (Thing* thing : this->things) {
-    if (thing->owner->networkId == networkId && thing->id == thingId)
+    if (thing->id == thingId)
      return thing;
  }
-  std::cout << "Could not find thing " //<< this->ipAddress << ":" << this->port
+  // std::cout << "Could not find thing " << this->ipAddress << ":" <<
-            << "[" << (int)thingId << "]\n";
+  // this->port
  //           << "[" << (int)thingId << "]\n";
  return nullptr;
 }
@ -119,24 +85,22 @@ void Participant::Add(Thing* thing, bool checkId) {
    thing->id = highestIx + 1;
    this->things.push_back(thing);
 #endif
-    std::cout << "Add thing with generated ID " 
+    // std::cout << "Add thing with generated ID " << this->ipAddress << ":"
-    //<< this->ipAddress << ":" << this->port
+    //           << this->port << "[" << (int)thing->id << "]\n";
    << "[" << (int)thing->id << "]\n";
  } else {
-    Thing* foundThing = Get(thing->owner->networkId, thing->id);
+    Thing* foundThing = Get(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 <<
+      // std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
-      "["
+      // "["
-                << (int)thing->id << "]\n";
+      //           << (int)thing->id << "]\n";
    } else {
-      std::cout << "Did not add, existing thing " 
+      // std::cout << "Did not add, existing thing " << this->ipAddress << ":"
-      //<< this->ipAddress << ":" << this->port
+      //           << this->port << "[" << (int)thing->id << "]\n";
       << "[" << (int)thing->id << "]\n";
    }
  }
 }
@ -164,88 +128,86 @@ void Participant::Remove(Thing* thing) {
 #pragma endregion
-// #pragma region ParticipantRegistry
+#pragma region ParticipantRegistry
-// /*
+Participant* ParticipantRegistry::Get(const char* ipAddress,
-// Participant* ParticipantRegistry::Get(const char* ipAddress,
+                                      unsigned int port) {
-//                                       unsigned int port) {
+#if !defined(NO_STD)
-// #if !defined(NO_STD)
+  for (Participant* participant : ParticipantRegistry::participants) {
-//   for (Participant* participant : ParticipantRegistry::participants) {
+    if (participant == nullptr)
-//     if (participant == nullptr)
+      continue;
-//       continue;
+    if (strcmp(participant->ipAddress, ipAddress) == 0 &&
-//     if (strcmp(participant->ipAddress, ipAddress) == 0 &&
+        participant->port == port) {
-//         participant->port == port) {
+      // std::cout << "found participant " << participant->ipAddress << ":"
-//       // std::cout << "found participant " << participant->ipAddress << ":"
+      //           << (int)participant->port << std::endl;
-//       //           << (int)participant->port << std::endl;
+      return participant;
-//       return participant;
+    }
-//     }
+  }
-//   }
+  std::cout << "Could not find participant " << ipAddress << ":" << (int)port
-//   std::cout << "Could not find participant " << ipAddress << ":" << (int)port
+            << std::endl;
-//             << std::endl;
+#endif
-// #endif
+  return nullptr;
-//   return nullptr;
+}
 // }
 // */
 // Participant* ParticipantRegistry::Get(unsigned char participantId) {
 // #if !defined(NO_STD)
 //   for (Participant* participant : ParticipantRegistry::participants) {
 //     if (participant == nullptr)
 //       continue;
 //     if (participant->networkId == participantId)
 //       return participant;
 //   }
 //   std::cout << "Could not find participant " << (int)participantId << std::endl;
 // #endif
 //   return nullptr;
 // }
-// // Participant* ParticipantRegistry::Add(const char* ipAddress,
+Participant* ParticipantRegistry::Get(unsigned char participantId) {
-// //                                       unsigned int port) {
+#if !defined(NO_STD)
-// //   Participant* participant = new Participant(ipAddress, port);
+  for (Participant* participant : ParticipantRegistry::participants) {
-// //   Add(participant);
+    if (participant == nullptr)
-// //   return participant;
+      continue;
-// // }
+    if (participant->networkId == participantId)
      return participant;
  }
  std::cout << "Could not find participant " << (int)participantId << std::endl;
 #endif
  return nullptr;
 }
-// void ParticipantRegistry::Add(Participant* participant) {
+Participant* ParticipantRegistry::Add(const char* ipAddress,
-//   Participant* foundParticipant =
+                                      unsigned int port) {
-//     Get(participant->networkId);
+  Participant* participant = new Participant(ipAddress, port);
-//       //Get(participant->ipAddress, participant->port);
+  Add(participant);
  return participant;
 }
-//   if (foundParticipant == nullptr) {
+void ParticipantRegistry::Add(Participant* participant) {
-// #if defined(NO_STD)
+  Participant* foundParticipant =
-//     // this->things[this->thingCount++] = thing;
+      Get(participant->ipAddress, participant->port);
 // #else
 //     ParticipantRegistry::participants.push_back(participant);
 // #endif
 //     //   std::cout << "Add participant " << participant->ipAddress << ":"
 //     //             << participant->port << "[" << (int)participant->networkId
 //     //             << "]\n";
 //     //   std::cout << "participants " <<
 //     //   ParticipantRegistry::participants.size()
 //     //             << "\n";
 //     // } else {
 //     //   std::cout << "Did not add, existing participant " <<
 //     //   participant->ipAddress
 //     //             << ":" << participant->port << "[" <<
 //     //             (int)participant->networkId
 //     //             << "]\n";
 //   }
 // }
-// void ParticipantRegistry::Remove(Participant* participant) {
+  if (foundParticipant == nullptr) {
-//   // participants.remove(participant);
+#if defined(NO_STD)
-// }
+    // this->things[this->thingCount++] = thing;
 #else
    ParticipantRegistry::participants.push_back(participant);
 #endif
    //   std::cout << "Add participant " << participant->ipAddress << ":"
    //             << participant->port << "[" << (int)participant->networkId
    //             << "]\n";
    //   std::cout << "participants " <<
    //   ParticipantRegistry::participants.size()
    //             << "\n";
    // } else {
    //   std::cout << "Did not add, existing participant " <<
    //   participant->ipAddress
    //             << ":" << participant->port << "[" <<
    //             (int)participant->networkId
    //             << "]\n";
  }
 }
-// #if defined(NO_STD)
+void ParticipantRegistry::Remove(Participant* participant) {
-// Participant** ParticipantRegistry::GetAll() const {
+  // participants.remove(participant);
-//   return ParticipantRegistry::participants;
+}
 // }
 // #else
 // const std::list<Participant*>& ParticipantRegistry::GetAll() const {
 //   return ParticipantRegistry::participants;
 // }
 // #endif
-// #pragma endregion ParticipantRegistry
+#if defined(NO_STD)
 Participant** ParticipantRegistry::GetAll() const {
  return ParticipantRegistry::participants;
 }
 #else
 const std::list<Participant*>& ParticipantRegistry::GetAll() const {
  return ParticipantRegistry::participants;
 }
 #endif
 #pragma endregion ParticipantRegistry
 }  // namespace RoboidControl
--- a/Participant.h
+++ b/Participant.h
@ -1,13 +1,11 @@
 #pragma once
 #include "Messages/IMessage.h"
 #include "Thing.h"
 namespace RoboidControl {
 constexpr int MAX_THING_COUNT = 256;
 /*
 /// @brief class which manages all known participants
 class ParticipantRegistry {
 public:
@ -15,7 +13,7 @@ class ParticipantRegistry {
  /// @param ipAddress The IP address of the participant
  /// @param port The port number of the participant
  /// @return The participant or a nullptr when it could not be found
-  //Participant* Get(const char* ipAddress, unsigned int port);
+  Participant* Get(const char* ipAddress, unsigned int port);
  /// @brief Retrieve a participant by its network ID
  /// @param networkID The network ID of the participant
  /// @return The participant or a nullptr when it could not be found
@ -25,8 +23,7 @@ class ParticipantRegistry {
  /// @param ipAddress The IP address of the participant
  /// @param port The port number of the participant
  /// @return The added participant
-  //Participant* Add(const char* ipAddress, unsigned int port);
+  Participant* Add(const char* ipAddress, unsigned int port);
  /// @brief Add a participant
  /// @param participant The participant to add
  void Add(Participant* participant);
@ -54,7 +51,6 @@ class ParticipantRegistry {
  std::list<Participant*> participants;
 #endif
 };
 */
 /// @brief A participant is a device which manages things.
 /// It can communicate with other participant to synchronise the state of
@ -63,39 +59,30 @@ class ParticipantRegistry {
 /// participant. It is used as a basis for the local participant, but also as a
 /// reference to remote participants.
 class Participant {
 #pragma region Init
 public:
  /// @brief Create a generic participant
  Participant();
  /// @brief Create a new participant with the given communcation info
  /// @param ipAddress The IP address of the participant
  /// @param port The UDP port of the participant
  /// @remarks This does not belong here, it should move to ParticipantUDP or
  /// something like that in the future
  Participant(const char* ipAddress, int port);
  /// @brief Destructor for the participant
  ~Participant();
  /// @brief The local participant for this application
  static Participant* LocalParticipant;
  /// @brief Replace the local participant
  /// @param newParticipant The new local Participant
  static void ReplaceLocalParticipant(Participant& newParticipant);
 #pragma endregion Init
 #pragma region Properties
 public:
  /// @brief The name of the participant
  const char* name = "Participant";
  /// @brief The Ip Address of a participant.
  const char* ipAddress = "0.0.0.0";
  /// @brief The port number for UDP communication with the participant.
  unsigned int port = 0;
  /// @brief The network Id to identify the participant
  unsigned char networkId = 0;
-  /// @brief The root thing for this participant
+  Participant();
-  Thing* root = nullptr;
+  /// @brief Create a new participant with the given communcation info
  /// @param ipAddress The IP address of the participant
  /// @param port The UDP port of the participant
  Participant(const char* ipAddress, int port);
  /// @brief Destructor for the participant
  ~Participant();
  static Participant* LocalParticipant;
  static void ReplaceLocalParticipant(Participant& newParticipant);
  Thing* root = new Thing(this);
 public:
 #if defined(NO_STD)
@ -106,10 +93,9 @@ class Participant {
  std::list<Thing*> things;
 #endif
  /// @brief Find a thing managed by this participant
  /// @param networkId The network ID of the thing
  /// @param thingId The ID of the thing
  /// @return The thing if found, nullptr when no thing has been found
-  Thing* Get(unsigned char networkId, unsigned char thingId);
+  Thing* Get(unsigned char thingId);
  /// @brief Add a new thing for this participant.
  /// @param thing The thing to add
  /// @param checkId If true, the thing.id is regenerated if it is zero
@ -118,31 +104,12 @@ class Participant {
  /// @param thing The thing to remove
  void Remove(Thing* thing);
 #pragma endregion Properties
 #pragma region Update
 public:
  /// @brief Update all things for this participant
-  virtual void Update(bool recurse = true);
+  /// @param currentTimeMs The current time in milliseconds (optional)
-
+  virtual void Update();
 #pragma endregion Update
 #pragma region Send
 public:
-  char buffer[1024];
+  static ParticipantRegistry registry;
  virtual bool Send(IMessage* msg);
 #pragma endregion Send
 // #pragma region Participant Registry
 //  public:
 //   static ParticipantRegistry registry;
 // #pragma endregion Participant Registry
 };
 }  // namespace RoboidControl
--- a/Participants/IsolatedParticipant.cpp
+++ b/Participants/IsolatedParticipant.cpp
@ -1,16 +1,14 @@
 /*
 #include "IsolatedParticipant.h"
 #include "ParticipantUDP.h"
 namespace RoboidControl {
-static ParticipantUDPGeneric* isolatedParticipant = nullptr;
+static ParticipantUDP* isolatedParticipant = nullptr;
 Participant* IsolatedParticipant::Isolated() {
  if (isolatedParticipant == nullptr)
-    isolatedParticipant = new ParticipantUDPGeneric(0);
+    isolatedParticipant = new ParticipantUDP(0);
  return isolatedParticipant;
 }
-}  // namespace RoboidControl
+}  // namespace RoboidControl
  */
--- a/Participants/IsolatedParticipant.h
+++ b/Participants/IsolatedParticipant.h
@ -1,4 +1,3 @@
 /*
 #include "Participant.h"
 namespace RoboidControl {
@ -11,5 +10,4 @@ class IsolatedParticipant {
  static Participant* Isolated();
 };
-}
+}
 */
--- a/Participants/ParticipantMQTT.cpp
+++ b/Participants/ParticipantMQTT.cpp
@ -1,154 +0,0 @@
 #include "ParticipantMQTT.h"
 #if defined(__unix__) || defined(__APPLE__)
 #include <arpa/inet.h>
 #include <fcntl.h>  // For fcntl
 #include <netinet/in.h>
 #include <sys/socket.h>
 #include <unistd.h>
 #endif
 #include "Participants/ParticipantUDP.h"
 namespace RoboidControl {
 MQTTParticipantBase::MQTTParticipantBase(const char* ipAddress, int port)
    : RemoteParticipantUDP("127.0.0.1", port) {
  this->name = "ParticipantUDP";
  this->remoteSite = new RemoteParticipantUDP(ipAddress, port);
  // Participant::registry.Add(this);
  this->root = Thing::LocalRoot();  // Participant::LocalParticipant->root;
  this->root->owner = this;
  this->root->name = "UDP Root";
  this->Add(this->root);
  Participant::ReplaceLocalParticipant(*this);
 }
 void MQTTParticipantBase::SetupTCP() {
  this->connected = false;
 }
 #define MQTT_CONNECT 0x10
 #define MQTT_CONNECT_ACK 0x20
 void MQTTParticipantBase::send_mqtt_connect(const char* client_id) {
  MQTTConnectPacket packet;
  packet.fixed_header = MQTT_CONNECT;
  packet.remaining_length =  // 14;
      2 + 4 + 2 + strlen(client_id) +
      3;                            // Protocol name + protocol level + connect
                                    // flags + keep alive + client ID
  packet.protocol_name_length = 4;  // "MQTT"
  packet.protocol_name = "MQTT";
  packet.protocol_level = 4;      // MQTT version 3.1.1
  packet.connect_flags = 2;       // Clean session
  packet.keep_alive = htons(15);  // Keep alive time in seconds
  // Create the MQTT connect packet
  int index = 0;
  this->buffer[index++] = packet.fixed_header;
  this->buffer[index++] = packet.remaining_length;
  this->buffer[index++] = 0;  // MSB protocol_name_length
  this->buffer[index++] = packet.protocol_name_length;
  memcpy(&this->buffer[index], packet.protocol_name,
         packet.protocol_name_length);
  index += packet.protocol_name_length;
  this->buffer[index++] = packet.protocol_level;
  this->buffer[index++] = packet.connect_flags;
  this->buffer[index++] = packet.keep_alive & 0xFF;         // LSB
  this->buffer[index++] = (packet.keep_alive >> 8) & 0xFF;  // MSB
  size_t client_id_length = strlen(client_id);
  this->buffer[index++] = (client_id_length >> 8) & 0xFF;  // MSB
  this->buffer[index++] = client_id_length & 0xFF;         // LSB
  memcpy(&this->buffer[index], client_id, client_id_length);
  index += client_id_length;
  for (int ix = 0; ix < index; ix++)
    std::cout << std::hex << "0x" << (int)this->buffer[ix] << " ";
  std::cout << std::dec << std::endl;
  // Send the MQTT connect packet
  SendTCP(index);
  std::cout << "Send connect, client ID = " << client_id << std::endl;
 }
 void MQTTParticipantBase::sendSubscribe(const char* topic) {
  // Packet Identifier (2 bytes)
  static unsigned short packetId =
      1;  // Increment this for each new subscription
  // Calculate the length of the topic name
  size_t topicLength = strlen(topic);
  // Remaining length = Packet Identifier (2 bytes) + Topic Length (2 bytes) +
  // Topic Name + QoS (1 byte)
  size_t remainingLength = 1 + 2 + 2 + topicLength + 1;
  // Construct the SUBSCRIBE packet
  // unsigned char subscribePacket[3 + topicLength];  // 3 bytes for fixed
  // header
  //                                                  // and packet ID
  this->buffer[0] = (char)0x82;                 // Packet type and flags
  this->buffer[1] = (char)remainingLength;      // Remaining length
  this->buffer[2] = (packetId >> 8) & 0xFF;     // Packet Identifier MSB
  this->buffer[3] = packetId & 0xFF;            // Packet Identifier LSB
  this->buffer[4] = (topicLength >> 8) & 0xFF;  // Topic Length MSB
  this->buffer[5] = topicLength & 0xFF;         // Topic Length LSB
  // Copy the topic name into the packet
  memcpy(&this->buffer[6], topic, topicLength);
  this->buffer[6 + topicLength] = 0x00;  // QoS level (0)
  int index = 7 + topicLength;
  //   for (int ix = 0; ix < index; ix++)
  //     std::cout << std::hex << (int)this->buffer[ix] << std::dec << "\n";
  // Send the SUBSCRIBE packet
  SendTCP(7 + topicLength);
  std::cout << "Send subscribe to topic: " << topic << std::endl;
 }
 void MQTTParticipantBase::Update(bool recurse) {
  int packetSize = ReceiveTCP();
  if (packetSize > 0) {
    ReceiveData(packetSize);
  }
 }
 void MQTTParticipantBase::SendTCP(int bufferSize) {}
 int MQTTParticipantBase::ReceiveTCP() {
  return 0;
 }
 void MQTTParticipantBase::ReceiveData(unsigned char bufferSize) {
  std::cout << " receivemsg\n";
  // std::cout << "receive msg " << (int)msgId << "\n";
  // std::cout << "  buffer size = " <<(int) bufferSize << "\n";
 };
 // void ParticipantMQTT::receiveMessages(int sock) {
 //   unsigned char buffer[1024];
 //   // Check for incoming messages without blocking
 //   int bytesRead = recv(sock, buffer, sizeof(buffer), MSG_DONTWAIT);
 //   if (bytesRead > 0) {
 //     // Process the incoming MQTT message
 //     std::cout << "Received message: ";
 //     for (int i = 0; i < bytesRead; ++i) {
 //       std::cout << std::hex << (int)buffer[i] << " ";
 //     }
 //     std::cout << std::dec << std::endl;  // Reset to decimal output
 //   } else if (bytesRead < 0) {
 //     // If no messages are available, check for errors
 //     if (errno != EAGAIN && errno != EWOULDBLOCK) {
 //       std::cerr << "Error receiving message: " << strerror(errno) <<
 //       std::endl;
 //     }
 //   }
 // }
 }  // namespace RoboidControl
--- a/Participants/ParticipantMQTT.h
+++ b/Participants/ParticipantMQTT.h
@ -1,130 +0,0 @@
 #pragma once
 #include "Messages/BinaryMsg.h"
 #include "Messages/DestroyMsg.h"
 #include "Messages/InvestigateMsg.h"
 #include "Messages/ModelUrlMsg.h"
 #include "Messages/NameMsg.h"
 #include "Messages/NetworkIdMsg.h"
 #include "Messages/ParticipantMsg.h"
 #include "Messages/PoseMsg.h"
 #include "Messages/TextMsg.h"
 #include "Messages/ThingMsg.h"
 #include "Participant.h"
 #include "Participants/ParticipantUDP.h"
 #if !defined(NO_STD)
 #include <functional>
 #include <list>
 // #include <unordered_map>
 #endif
 #if defined(_WIN32) || defined(_WIN64)
 #include "Windows/WindowsParticipant.h"
 #elif defined(__unix__) || defined(__APPLE__)
 #include <arpa/inet.h>
 #include <netinet/in.h>
 #include <sys/socket.h>
 #include <unistd.h>
 #include "Posix/PosixParticipant.h"
 #endif
 namespace RoboidControl {
 /// @brief A participant using UDP communication
 /// A local participant is the local device which can communicate with
 /// other participants It manages all local things and communcation with other
 /// 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
 /// specifying a participant in the constructor. In that case an hidden isolated
 /// participant is created which can be obtained using
 /// RoboidControl::IsolatedParticipant::Isolated().
 /// @sa RoboidControl::Thing::Thing()
 class MQTTParticipantBase : public RemoteParticipantUDP {
 #pragma region Init
 public:
  /// @brief Create a participant which will try to connect to a MQTT server.
  /// @param ipAddress The IP address of the MQTT server
  /// @param port The port used by the MQTT server
  MQTTParticipantBase(const char* ipAddress, int port = 1883);
 protected:
  virtual void SetupTCP();
 #pragma endregion Init
 #pragma region Properties
 public:
  /// @brief The remote site when this participant is connected to a site
  RemoteParticipantUDP* remoteSite = nullptr;
 protected:
 public:
  // void Begin();
  bool connected = false;
 #pragma endregion Properties
 #pragma region Update
 public:
  virtual void Update(bool recurse = true) override;
 #pragma endregion Update
 #pragma region Send
 protected:
  // MQTT Connect Packet Structure
  struct MQTTConnectPacket {
    uint8_t fixed_header;
    uint8_t remaining_length;
    uint8_t protocol_name_length;
    const char* protocol_name;
    uint8_t protocol_level;
    uint8_t connect_flags;
    uint16_t keep_alive;
    const char* client_id;
  };
  void send_mqtt_connect(const char* client_id);
  void sendSubscribe(const char* topic);
  virtual void SendTCP(int bufferSize);
 #pragma endregion Send
 #pragma region Receive
 protected:
  virtual int ReceiveTCP();
  void ReceiveData(unsigned char bufferSize);
  //   void ReceiveData(unsigned char bufferSize, Participant*
  //   remoteParticipant);
  //   void SetupUDP(int localPort, const char* remoteIpAddress, int
  //   remotePort);
  //   void ReceiveUDP();
  //   virtual void Process(Participant* sender, ParticipantMsg* msg);
  //   virtual void Process(Participant* sender, NetworkIdMsg* 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, ModelUrlMsg* msg);
  //   virtual void Process(Participant* sender, PoseMsg* msg);
  //   virtual void Process(Participant* sender, BinaryMsg* msg);
  //   virtual void Process(Participant* sender, TextMsg* msg);
  //   virtual void Process(Participant* sender, DestroyMsg* msg);
 #pragma endregion Receive
 };
 }  // namespace RoboidControl
 #include "Posix/PosixMQTT.h"
--- a/Participants/ParticipantUDP.cpp
+++ b/Participants/ParticipantUDP.cpp
@ -8,167 +8,81 @@
 #include "Posix/PosixParticipant.h"
 #include "Windows/WindowsParticipant.h"
 #include "Things/DifferentialDrive.h"
 #include "Things/DistanceSensor.h"
 #include "Things/TouchSensor.h"
 #include <string.h>
 namespace RoboidControl {
 #pragma region ParticipantRegistry
 ParticipantRegistry ParticipantUDPGeneric::registry;
 RemoteParticipantUDP* ParticipantRegistry::Get(const char* ipAddress,
                                               unsigned int port) {
 #if !defined(NO_STD)
  for (RemoteParticipantUDP* participant : ParticipantRegistry::participants) {
    if (participant == nullptr)
      continue;
    if (strcmp(participant->ipAddress, ipAddress) == 0 &&
        participant->port == port) {
      // std::cout << "found participant " << participant->ipAddress << ":"
      //           << (int)participant->port << std::endl;
      return participant;
    }
  }
  std::cout << "Could not find participant " << ipAddress << ":" << (int)port
            << std::endl;
 #endif
  return nullptr;
 }
 RemoteParticipantUDP* ParticipantRegistry::Get(unsigned char participantId) {
 #if !defined(NO_STD)
  for (RemoteParticipantUDP* participant : ParticipantRegistry::participants) {
    if (participant == nullptr)
      continue;
    if (participant->networkId == participantId)
      return participant;
  }
  std::cout << "Could not find participant " << (int)participantId << std::endl;
 #endif
  return nullptr;
 }
 RemoteParticipantUDP* ParticipantRegistry::Add(const char* ipAddress,
                                               unsigned int port) {
  RemoteParticipantUDP* participant = new RemoteParticipantUDP(ipAddress, port);
  Add(participant);
  return participant;
 }
 void ParticipantRegistry::Add(RemoteParticipantUDP* participant) {
  Participant* foundParticipant = Get(participant->networkId);
  // Get(participant->ipAddress, participant->port);
  if (foundParticipant == nullptr) {
 #if defined(NO_STD)
    // this->things[this->thingCount++] = thing;
 #else
    ParticipantRegistry::participants.push_back(participant);
 #endif
    //   std::cout << "Add participant " << participant->ipAddress << ":"
    //             << participant->port << "[" << (int)participant->networkId
    //             << "]\n";
    //   std::cout << "participants " <<
    //   ParticipantRegistry::participants.size()
    //             << "\n";
    // } else {
    //   std::cout << "Did not add, existing participant " <<
    //   participant->ipAddress
    //             << ":" << participant->port << "[" <<
    //             (int)participant->networkId
    //             << "]\n";
  }
 }
 void ParticipantRegistry::Remove(RemoteParticipantUDP* participant) {
  // participants.remove(participant);
 }
 #if defined(NO_STD)
 RemoteParticipantUDP** ParticipantRegistry::GetAll() const {
  return ParticipantRegistry::participants;
 }
 #else
 const std::list<RemoteParticipantUDP*>& ParticipantRegistry::GetAll() const {
  return ParticipantRegistry::participants;
 }
 #endif
 #pragma endregion ParticipantRegistry
 RemoteParticipantUDP::RemoteParticipantUDP(const char* ipAddress, int port) {
  // make a copy of the ip address string
  int addressLength = (int)strlen(ipAddress);
  int stringLength = addressLength + 1;
  char* addressString = new char[stringLength];
 #if defined(_WIN32) || defined(_WIN64)
  strncpy_s(addressString, stringLength, ipAddress,
            addressLength);  // Leave space for null terminator
 #else
  strncpy(addressString, ipAddress, addressLength);
 #endif
  addressString[addressLength] = '\0';
  this->ipAddress = addressString;
  this->port = port;
 }
 bool RemoteParticipantUDP::Send(IMessage* msg) {
  // No message is actually sent, because this class has no networking
  // implementation
  return false;
 }
 #pragma region Init
-ParticipantUDPGeneric::ParticipantUDPGeneric(int port)
+ParticipantUDP::ParticipantUDP(int port) : Participant("127.0.0.1", port) {
    : RemoteParticipantUDP("127.0.0.1", port) {
  this->name = "ParticipantUDP";
  this->remoteSite = nullptr;
  if (this->port == 0)
    this->isIsolated = true;
-  registry.Add(this);
+  Participant::registry.Add(this);
  this->root = Thing::LocalRoot();  //::LocalParticipant->root;
  this->root->owner = this;
  this->root->name = "UDP Root";
  std::cout << "P2 " << (long)this->root << std::endl;
  this->Add(this->root);
  Participant::ReplaceLocalParticipant(*this);
 }
-ParticipantUDPGeneric::ParticipantUDPGeneric(const char* ipAddress,
+ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
-                                             int port,
+    : Participant("127.0.0.1", localPort) {
                                             int localPort)
    : RemoteParticipantUDP("127.0.0.1", localPort) {
  this->name = "ParticipantUDP";
  if (this->port == 0)
    this->isIsolated = true;
  else
-    this->remoteSite = new RemoteParticipantUDP(ipAddress, port);
+    this->remoteSite = new Participant(ipAddress, port);
-  registry.Add(this);
+  Participant::registry.Add(this);
  this->root = Thing::LocalRoot();  // Participant::LocalParticipant->root;
  this->root->owner = this;
  this->root->name = "UDP Root";
  std::cout << "P1 " << (long)this->root << std::endl;
  this->Add(this->root);
  Participant::ReplaceLocalParticipant(*this);
 }
-void ParticipantUDPGeneric::begin() {
+static ParticipantUDP* isolatedParticipant = nullptr;
 ParticipantUDP* ParticipantUDP::Isolated() {
  if (isolatedParticipant == nullptr)
    isolatedParticipant = new ParticipantUDP(0);
  return isolatedParticipant;
 }
 void ParticipantUDP::begin() {
  if (this->isIsolated || this->remoteSite == nullptr)
    return;
  SetupUDP(this->port, this->remoteSite->ipAddress, this->remoteSite->port);
 }
 void ParticipantUDP::SetupUDP(int localPort,
                              const char* remoteIpAddress,
                              int remotePort) {
 #if defined(_WIN32) || defined(_WIN64)
  Windows::ParticipantUDP* thisWindows =
      static_cast<Windows::ParticipantUDP*>(this);
  thisWindows->Setup(localPort, remoteIpAddress, remotePort);
 #elif defined(__unix__) || defined(__APPLE__)
  Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
  thisPosix->Setup(localPort, remoteIpAddress, remotePort);
 #elif defined(ARDUINO)
  Arduino::ParticipantUDP* thisArduino =
      static_cast<Arduino::ParticipantUDP*>(this);
  thisArduino->Setup();
 #elif defined(IDF_VER)
  EspIdf::ParticipantUDP* thisEspIdf =
      static_cast<EspIdf::ParticipantUDP*>(this);
  thisEspIdf->Setup(localPort, remoteIpAddress, remotePort);
 #endif
  this->connected = true;
 }
 #pragma endregion Init
 #pragma region Update
@ -177,55 +91,105 @@ void ParticipantUDPGeneric::begin() {
 // 1. receive external messages
 // 2. update the state
 // 3. send out the updated messages
-void ParticipantUDPGeneric::Update(bool recurse) {
+void ParticipantUDP::Update() {
  unsigned long currentTimeMs = Thing::GetTimeMs();
  PrepMyThings();
  if (this->isIsolated == false) {
    if (this->connected == false)
      begin();
    if (this->publishInterval > 0 && currentTimeMs > this->nextPublishMe) {
      ParticipantMsg* msg = new ParticipantMsg(this->networkId);
      if (this->remoteSite == nullptr)
        this->Publish(msg);
      else
-        this->Send(msg);
+        this->Send(this->remoteSite, msg);
      delete msg;
      this->nextPublishMe = currentTimeMs + this->publishInterval;
    }
-    //this->ReceiveUDP();
+    this->ReceiveUDP();
  }
  UpdateMyThings();
  UpdateOtherThings();
 }
-void ParticipantUDPGeneric::UpdateMyThings() {
+void ParticipantUDP::PrepMyThings() {
  for (Thing* thing : this->things) {
    if (thing == nullptr)
      continue;
    thing->PrepareForUpdate();
  }
 }
 void ParticipantUDP::UpdateMyThings() {
  // std::cout << this->things.size() << std::endl;
  for (Thing* thing : this->things) {
    if (thing == nullptr)  // || thing->GetParent() != nullptr)
      continue;
-      // Why don't we do recursive?
+    // std::cout << thing->name << "\n";
    if (thing->hierarchyChanged) {
      if (!(this->isIsolated || this->networkId == 0)) {
        ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
        this->Send(this->remoteSite, thingMsg);
        delete thingMsg;
        if (thing->nameChanged) {
          NameMsg* nameMsg = new NameMsg(this->networkId, thing);
          this->Send(this->remoteSite, nameMsg);
          delete nameMsg;
        }
      }
    }
    // std::cout << "B\n";
    // Why don't we do recursive?
    // Because when a thing creates a thing in the update,
    // that new thing is not sent out (because of hierarchyChanged)
    // before it is updated itself: it is immediatedly updated!
    thing->Update(false);
    // std::cout << "C\n";
    if (!(this->isIsolated || this->networkId == 0)) {
      if (thing->terminate) {
        DestroyMsg* destroyMsg = new DestroyMsg(this->networkId, thing);
        this->Send(this->remoteSite, destroyMsg);
        delete destroyMsg;
      } else {
        //  Send to remote site
        if (thing->nameChanged) {
          NameMsg* nameMsg = new NameMsg(this->networkId, thing);
          this->Send(this->remoteSite, nameMsg);
          delete nameMsg;
        }
        PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
        this->Send(this->remoteSite, poseMsg);
        delete poseMsg;
        BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
        this->Send(this->remoteSite, binaryMsg);
        delete binaryMsg;
      }
    }
    // std::cout << "D\n";
    if (thing->terminate)
      this->Remove(thing);
    // std::cout << "E\n";
  }
 }
-void ParticipantUDPGeneric::UpdateOtherThings() {
+void ParticipantUDP::UpdateOtherThings() {
 #if defined(NO_STD)
  Participant** participants = Participant::registry.GetAll();
  for (int ix = 0; ix < Participant::registry.count; ix++) {
    Participant* participant = participants[ix];
 #else
-  for (Participant* participant : registry.GetAll()) {
+  for (Participant* participant : Participant::registry.GetAll()) {
 #endif
    if (participant == nullptr || participant == this)
      continue;
@ -239,10 +203,10 @@ void ParticipantUDPGeneric::UpdateOtherThings() {
    for (Thing* thing : participant->things) {
      PoseMsg* poseMsg = new PoseMsg(participant->networkId, thing);
-      participant->Send(poseMsg);
+      this->Send(participant, poseMsg);
      delete poseMsg;
      BinaryMsg* binaryMsg = new BinaryMsg(participant->networkId, thing);
-      participant->Send(binaryMsg);
+      this->Send(participant, binaryMsg);
      delete binaryMsg;
    }
  }
@ -253,34 +217,55 @@ void ParticipantUDPGeneric::UpdateOtherThings() {
 #pragma region Send
-void ParticipantUDPGeneric::SendThingInfo(Participant* remoteParticipant,
+void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
-                                          Thing* thing) {
+                                   Thing* thing) {
  // std::cout << "Send thing info [" << (int)thing->id << "] \n";
  ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
-  remoteParticipant->Send(thingMsg);
+  this->Send(remoteParticipant, thingMsg);
  delete thingMsg;
  NameMsg* nameMsg = new NameMsg(this->networkId, thing);
-  remoteParticipant->Send(nameMsg);
+  this->Send(remoteParticipant, nameMsg);
  delete nameMsg;
  ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
-  remoteParticipant->Send(modelMsg);
+  this->Send(remoteParticipant, modelMsg);
  delete modelMsg;
  PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
-  remoteParticipant->Send(poseMsg);
+  this->Send(remoteParticipant, poseMsg);
  delete poseMsg;
-  BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
+  BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
-  remoteParticipant->Send(binaryMsg);
+  this->Send(remoteParticipant, customMsg);
-  delete binaryMsg;
+  delete customMsg;
 }
-bool ParticipantUDPGeneric::Send(IMessage* msg) {
+bool ParticipantUDP::Send(Participant* remoteParticipant, IMessage* msg) {
-  if (this->remoteSite != nullptr)
+  int bufferSize = msg->Serialize(this->buffer);
-    return this->remoteSite->Send(msg);
+  if (bufferSize <= 0)
    return true;
-  return true;
+  // std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
  //           << " to " << remoteParticipant->ipAddress << std::endl;
 #if defined(_WIN32) || defined(_WIN64)
  Windows::ParticipantUDP* thisWindows =
      static_cast<Windows::ParticipantUDP*>(this);
  return thisWindows->Send(remoteParticipant, bufferSize);
 #elif defined(__unix__) || defined(__APPLE__)
  Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
  return thisPosix->Send(remoteParticipant, bufferSize);
 #elif defined(ARDUINO)
  Arduino::ParticipantUDP* thisArduino =
      static_cast<Arduino::ParticipantUDP*>(this);
  return thisArduino->Send(remoteParticipant, bufferSize);
 #elif defined(IDF_VER)
  EspIdf::ParticipantUDP* thisEspIdf =
      static_cast<EspIdf::ParticipantUDP*>(this);
  return thisEspIdf->Send(remoteParticipant, bufferSize);
 #else
  return false;
 #endif
 }
-void ParticipantUDPGeneric::PublishThingInfo(Thing* thing) {
+void ParticipantUDP::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...
@ -301,31 +286,71 @@ void ParticipantUDPGeneric::PublishThingInfo(Thing* thing) {
  delete customMsg;
 }
 bool ParticipantUDP::Publish(IMessage* msg) {
  // std::cout << "publish msg\n";
 #if defined(_WIN32) || defined(_WIN64)
  Windows::ParticipantUDP* thisWindows =
      static_cast<Windows::ParticipantUDP*>(this);
  return thisWindows->Publish(msg);
 #elif defined(__unix__) || defined(__APPLE__)
  Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
  return thisPosix->Publish(msg);
 #elif defined(ARDUINO)
  Arduino::ParticipantUDP* thisArduino =
      static_cast<Arduino::ParticipantUDP*>(this);
  return thisArduino->Publish(msg);
 #elif defined(IDF_VER)
  EspIdf::ParticipantUDP* thisEspIdf =
      static_cast<EspIdf::ParticipantUDP*>(this);
  return thisEspIdf->Publish(msg);
 #else
  return false;
 #endif
 }
 // Send
 #pragma endregion
 #pragma region Receive
-void ParticipantUDPGeneric::ReceiveData(unsigned char packetSize,
+void ParticipantUDP::ReceiveUDP() {
-                                        char* senderIpAddress,
+#if defined(_WIN32) || defined(_WIN64)
-                                        unsigned int senderPort) {
+  Windows::ParticipantUDP* thisWindows =
      static_cast<Windows::ParticipantUDP*>(this);
  thisWindows->Receive();
 #elif defined(__unix__) || defined(__APPLE__)
  Posix::ParticipantUDP* thisPosix = static_cast<Posix::ParticipantUDP*>(this);
  thisPosix->Receive();
 #elif defined(ARDUINO)
  Arduino::ParticipantUDP* thisArduino =
      static_cast<Arduino::ParticipantUDP*>(this);
  thisArduino->Receive();
 #elif defined(IDF_VER)
  EspIdf::ParticipantUDP* thisEspIdf =
      static_cast<EspIdf::ParticipantUDP*>(this);
  thisEspIdf->Receive();
 #endif
 }
 void ParticipantUDP::ReceiveData(unsigned char packetSize,
                                 char* senderIpAddress,
                                 unsigned int senderPort) {
  // std::cout << "Receive data from " << senderIpAddress << ":" << senderPort
  //           << std::endl;
-  RemoteParticipantUDP* sender =
+  Participant* sender = this->registry.Get(senderIpAddress, senderPort);
      this->registry.Get(senderIpAddress, senderPort);
  if (sender == nullptr) {
    sender = this->registry.Add(senderIpAddress, senderPort);
 #if !defined(NO_STD)
-    // std::cout << "New remote participant " << sender->ipAddress << ":"
+    std::cout << "New remote participant " << sender->ipAddress << ":"
-    //           << sender->port << std::endl;
+              << sender->port << std::endl;
 #endif
  }
  ReceiveData(packetSize, sender);
 }
-void ParticipantUDPGeneric::ReceiveData(unsigned char bufferSize,
+void ParticipantUDP::ReceiveData(unsigned char bufferSize,
-                                        RemoteParticipantUDP* sender) {
+                                 Participant* sender) {
  unsigned char msgId = this->buffer[0];
  // std::cout << "receive msg " << (int)msgId << "\n";
  // std::cout << "  buffer size = " <<(int) bufferSize << "\n";
@ -377,18 +402,6 @@ void ParticipantUDPGeneric::ReceiveData(unsigned char bufferSize,
      Process(sender, msg);
      delete msg;
    } break;
    case TextMsg::id: {
      TextMsg* msg = new TextMsg(this->buffer);
      bufferSize -= msg->length + msg->textLength;
      Process(sender, msg);
      delete msg;
    } break;
    case DestroyMsg::id: {
      DestroyMsg* msg = new DestroyMsg(this->buffer);
      bufferSize -= msg->length;
      Process(sender, msg);
      delete msg;
    } break;
  };
 // Check if the buffer has been read completely
@ -398,16 +411,14 @@ void ParticipantUDPGeneric::ReceiveData(unsigned char bufferSize,
 #endif
 }
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
                                    ParticipantMsg* msg) {
 #if defined(DEBUG)
  std::cout << this->name << ": Process ParticipantMsg " << (int)msg->networkId
            << "\n";
 #endif
 }
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+void ParticipantUDP::Process(Participant* sender, NetworkIdMsg* msg) {
                                    NetworkIdMsg* msg) {
 #if defined(DEBUG)
  std::cout << this->name << ": process NetworkIdMsg " << (int)this->networkId
            << " -> " << (int)msg->networkId << "\n";
@ -422,68 +433,28 @@ void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
  }
 }
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+void ParticipantUDP::Process(Participant* sender, InvestigateMsg* msg) {
                                    InvestigateMsg* msg) {
 #if defined(DEBUG)
  std::cout << this->name << ": Process InvestigateMsg [" << (int)msg->networkId
            << "/" << (int)msg->thingId << "]\n";
 #endif
 }
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+void ParticipantUDP::Process(Participant* sender, ThingMsg* msg) {
                                    ThingMsg* msg) {
 #if defined(DEBUG)
  std::cout << this->name << ": process ThingMsg [" << (int)msg->networkId
            << "/" << (int)msg->thingId << "] " << (int)msg->thingType << " "
            << (int)msg->parentId << "\n";
 #endif
  RemoteParticipantUDP* owner = registry.Get(msg->networkId);
  if (owner == nullptr) {
    owner = new RemoteParticipantUDP(sender->ipAddress, sender->port);
    owner->networkId = msg->networkId;
    registry.Add(owner);
  }
  Thing* thing = owner->Get(msg->networkId, msg->thingId);
  if (thing == nullptr) {
    bool isRemote = (sender->networkId != owner->networkId);
    thing = ProcessNewThing(owner, msg, isRemote);
    thing->id = msg->thingId;
    thing->type = msg->thingType;
    thing->isRemote = isRemote;
  }
  if (msg->parentId != 0) {
    thing->SetParent(owner->Get(msg->networkId, msg->parentId));
    if (thing->GetParent() == nullptr)
      std::cout << "Could not find parent" << std::endl;
  } else
    thing->SetParent(nullptr);
 }
-Thing* ParticipantUDPGeneric::ProcessNewThing(RemoteParticipantUDP* owner,
+void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
                                              ThingMsg* msg,
                                              bool isRemote) {
  switch (msg->thingType) {
    case Thing::Type::DistanceSensor:
      return new DistanceSensor(owner->root);
    case Thing::Type::TouchSensor:
      return new TouchSensor(owner->root);
    case Thing::Type::DifferentialDrive:
      return new DifferentialDrive(owner->root);
    default:
      return new Thing(owner->root);
  }
 }
 void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
                                    NameMsg* msg) {
 #if defined(DEBUG)
  std::cout << this->name << ": process NameMsg [" << (int)msg->networkId << "/"
            << (int)msg->thingId << "] ";
 #endif
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
+  Thing* thing = sender->Get(msg->thingId);
  if (thing != nullptr) {
    int nameLength = msg->nameLength;
    int stringLen = nameLength + 1;
@ -509,25 +480,23 @@ void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
 #endif
 }
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
                                    ModelUrlMsg* msg) {
 #if defined(DEBUG)
  std::cout << this->name << ": process ModelUrlMsg [" << (int)msg->networkId
            << "/" << (int)msg->thingId << "]\n";
 #endif
 }
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
                                    PoseMsg* msg) {
 #if !defined(DEBUG) && !defined(NO_STD)
  std::cout << this->name << ": process PoseMsg [" << (int)this->networkId
            << "/" << (int)msg->networkId << "] " << (int)msg->poseType << "\n";
 #endif
-  Participant* owner = registry.Get(msg->networkId);
+  Participant* owner = Participant::registry.Get(msg->networkId);
  if (owner == nullptr)
    return;
-  Thing* thing = owner->Get(msg->networkId, msg->thingId);
+  Thing* thing = owner->Get(msg->thingId);
  if (thing == nullptr)
    return;
@ -541,16 +510,15 @@ void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
    thing->SetAngularVelocity(msg->angularVelocity);
 }
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
                                    BinaryMsg* msg) {
 #if defined(DEBUG)
  std::cout << this->name << ": process BinaryMsg [" << (int)msg->networkId
            << "/" << (int)msg->thingId << "]\n";
 #endif
-  Participant* owner = registry.Get(msg->networkId);
+  Participant* owner = Participant::registry.Get(msg->networkId);
  if (owner != nullptr) {
-    Thing* thing = owner->Get(msg->networkId, msg->thingId);
+    Thing* thing = owner->Get(msg->thingId);
    if (thing != nullptr)
      thing->ProcessBinary(msg->data);
 #if !defined(NO_STD)
@ -564,26 +532,6 @@ void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
  }
 }
 void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
                                    TextMsg* msg) {
 #if defined(DEBUG)
  std::cout << this->name << ": process TextMsg " << (int)msg->textLength << " "
            << (int)msg->text << "\n";
 #endif
 }
 void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
                                    DestroyMsg* msg) {
 #if defined(DEBUG)
  std::cout << this->name << ": process Destroy [" << (int)msg->networkId << "/"
            << (int)msg->thingId << "]\n";
 #endif
  Thing* thing = sender->Get(msg->networkId, msg->thingId);
  if (thing != nullptr)
    this->Remove(thing);
 }
 // Receive
 #pragma endregion
--- a/Participants/ParticipantUDP.h
+++ b/Participants/ParticipantUDP.h
@ -5,10 +5,9 @@
 #include "Messages/InvestigateMsg.h"
 #include "Messages/ModelUrlMsg.h"
 #include "Messages/NameMsg.h"
 #include "Messages/NetworkIdMsg.h"
 #include "Messages/ParticipantMsg.h"
 #include "Messages/PoseMsg.h"
-#include "Messages/TextMsg.h"
+#include "Messages/NetworkIdMsg.h"
 #include "Messages/ThingMsg.h"
 #include "Participant.h"
@ -31,74 +30,6 @@ namespace RoboidControl {
 constexpr int MAX_SENDER_COUNT = 256;
 class RemoteParticipantUDP : public Participant {
 public:
 /// @brief Create a new participant with the given communcation info
  /// @param ipAddress The IP address of the participant
  /// @param port The UDP port of the participant
  /// @remarks This does not belong here, it should move to ParticipantUDP or
  /// something like that in the future
  RemoteParticipantUDP(const char* ipAddress, int port);
  /// @brief The Ip Address of a participant.
  /// @remarks This does not belong here, it should move to ParticipantUDP or
  /// something like that in the future
  const char* ipAddress = "0.0.0.0";
  /// @brief The port number for UDP communication with the participant.
  /// @remarks This does not belong here, it should move to ParticipantUDP or
  /// something like that in the future
  unsigned int port = 0;
  bool Send(IMessage* msg) override;
 };
 /// @brief class which manages all known participants
 class ParticipantRegistry {
 public:
  /// @brief Retrieve a participant by its address
  /// @param ipAddress The IP address of the participant
  /// @param port The port number of the participant
  /// @return The participant or a nullptr when it could not be found
  RemoteParticipantUDP* Get(const char* ipAddress, unsigned int port);
  /// @brief Retrieve a participant by its network ID
  /// @param networkID The network ID of the participant
  /// @return The participant or a nullptr when it could not be found
  RemoteParticipantUDP* Get(unsigned char networkID);
  /// @brief Add a participant with the given details
  /// @param ipAddress The IP address of the participant
  /// @param port The port number of the participant
  /// @return The added participant
  RemoteParticipantUDP* Add(const char* ipAddress, unsigned int port);
  /// @brief Add a participant
  /// @param participant The participant to add
  void Add(RemoteParticipantUDP* participant);
  /// @brief Remove a participant
  /// @param participant The participant to remove
  void Remove(RemoteParticipantUDP* participant);
 private:
 #if defined(NO_STD)
 public:
  RemoteParticipantUDP** GetAll() const;
  int count = 0;
 private:
  RemoteParticipantUDP** participants;
 #else
 public:
  /// @brief Get all participants
  /// @return All participants
  const std::list<RemoteParticipantUDP*>& GetAll() const;
 private:
  /// @brief The list of known participants
  std::list<RemoteParticipantUDP*> participants;
 #endif
 };
 /// @brief A participant using UDP communication
 /// A local participant is the local device which can communicate with
 /// other participants It manages all local things and communcation with other
@ -111,7 +42,7 @@ class ParticipantRegistry {
 /// participant is created which can be obtained using
 /// RoboidControl::IsolatedParticipant::Isolated().
 /// @sa RoboidControl::Thing::Thing()
-class ParticipantUDPGeneric : public RemoteParticipantUDP {
+class ParticipantUDP : public Participant {
 #pragma region Init
 public:
@ -120,32 +51,36 @@ class ParticipantUDPGeneric : public RemoteParticipantUDP {
  /// These participant typically broadcast Participant messages to let site
  /// servers on the local network know their presence. Alternatively they can
  /// broadcast information which can be used directly by other participants.
-  ParticipantUDPGeneric(int port = 7681);
+  ParticipantUDP(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
  /// @param localPort The port used by the local participant
-  ParticipantUDPGeneric(const char* ipAddress,
+  ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);
-                        int port = 7681,
+
-                        int localPort = 7681);
+  /// @brief Isolated participant is used when the application is run without
  /// networking
  /// @return A participant without networking support
  static ParticipantUDP* Isolated();
  /// @brief True if the participant is running isolated.
  /// Isolated participants do not communicate with other participants
 #pragma endregion Init
 #pragma region Properties
 public:
  /// @brief True if the participant is running isolated.
  /// Isolated participants do not communicate with other participants
  bool isIsolated = false;
  /// @brief The remote site when this participant is connected to a site
-  RemoteParticipantUDP* remoteSite = nullptr;
+  Participant* remoteSite = nullptr;
  /// The interval in milliseconds for publishing (broadcasting) data on the
  /// local network
  long publishInterval = 3000;  // 3 seconds
 protected:
  char buffer[1024];
 #if !defined(ARDUINO)
 #if defined(__unix__) || defined(__APPLE__)
  int sock;
@ -159,18 +94,16 @@ class ParticipantUDPGeneric : public RemoteParticipantUDP {
  void begin();
  bool connected = false;
 #pragma endregion Properties
 #pragma region Update
 public:
-  virtual void Update(bool recurse = true) override;
+  virtual void Update() override;
 protected:
  unsigned long nextPublishMe = 0;
  /// @brief Prepare the local things for the next update
-  // virtual void PrepMyThings();
+  virtual void PrepMyThings();
  virtual void UpdateMyThings();
  virtual void UpdateOtherThings();
@ -181,47 +114,34 @@ class ParticipantUDPGeneric : public RemoteParticipantUDP {
  void SendThingInfo(Participant* remoteParticipant, Thing* thing);
  void PublishThingInfo(Thing* thing);
-  virtual bool Send(IMessage* msg) override;
+  bool Send(Participant* remoteParticipant, IMessage* msg);
-  virtual bool Publish(IMessage* msg) = 0;
+  bool Publish(IMessage* msg);
 #pragma endregion Send
 #pragma region Receive
- protected:
+protected:
  void ReceiveData(unsigned char bufferSize,
                   char* senderIpAddress,
                   unsigned int senderPort);
-  void ReceiveData(unsigned char bufferSize, RemoteParticipantUDP* remoteParticipant);
+  void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
-  virtual void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort) = 0;
+  void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
-  virtual void ReceiveUDP() = 0;
+  void ReceiveUDP();
-  virtual void Process(RemoteParticipantUDP* sender, ParticipantMsg* msg);
+  virtual void Process(Participant* sender, ParticipantMsg* msg);
-  virtual void Process(RemoteParticipantUDP* sender, NetworkIdMsg* msg);
+  virtual void Process(Participant* sender, NetworkIdMsg* msg);
-  virtual void Process(RemoteParticipantUDP* sender, InvestigateMsg* msg);
+  virtual void Process(Participant* sender, InvestigateMsg* msg);
-
+  virtual void Process(Participant* sender, ThingMsg* msg);
-  virtual void Process(RemoteParticipantUDP* sender, ThingMsg* msg);
+  virtual void Process(Participant* sender, NameMsg* msg);
-  virtual Thing* ProcessNewThing(RemoteParticipantUDP* sender,
+  virtual void Process(Participant* sender, ModelUrlMsg* msg);
-                                 ThingMsg* msg,
+  virtual void Process(Participant* sender, PoseMsg* msg);
-                                 bool isRemote);
+  virtual void Process(Participant* sender, BinaryMsg* msg);
  virtual void Process(RemoteParticipantUDP* sender, NameMsg* msg);
  virtual void Process(RemoteParticipantUDP* sender, ModelUrlMsg* msg);
  virtual void Process(RemoteParticipantUDP* sender, PoseMsg* msg);
  virtual void Process(RemoteParticipantUDP* sender, BinaryMsg* msg);
  virtual void Process(RemoteParticipantUDP* sender, TextMsg* msg);
  virtual void Process(RemoteParticipantUDP* sender, DestroyMsg* msg);
 #pragma endregion Receive
 public:
  static ParticipantRegistry registry;
 };
 }  // namespace RoboidControl
 #include "EspIdf/EspIdfParticipant.h"
 #include "Posix/PosixParticipant.h"
--- a/Participants/SiteServer.cpp
+++ b/Participants/SiteServer.cpp
@ -15,7 +15,7 @@ SiteServer::SiteServer(int port) : ParticipantUDP(port) {
  this->name = "Site Server";
  this->publishInterval = 0;
-  //SetupUDP(port, ipAddress, 0);
+  SetupUDP(port, ipAddress, 0);
 }
 #pragma endregion Init
@ -36,16 +36,16 @@ void SiteServer::UpdateMyThings() {
      for (int ix = 0; ix < Participant::registry.count; ix++) {
        Participant* participant = participants[ix];
 #else
-      for (Participant* participant : registry.GetAll()) {
+      for (Participant* participant : Participant::registry.GetAll()) {
 #endif
        if (participant == nullptr || participant == this)
          continue;
        PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
-        participant->Send(poseMsg);
+        this->Send(participant, poseMsg);
        delete poseMsg;
        BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
-        participant->Send(binaryMsg);
+        this->Send(participant, binaryMsg);
        delete binaryMsg;
      }
    }
@ -56,30 +56,30 @@ void SiteServer::UpdateMyThings() {
 #pragma region Receive
-void SiteServer::Process(RemoteParticipantUDP* sender, ParticipantMsg* msg) {
+void SiteServer::Process(Participant* sender, ParticipantMsg* msg) {
  if (msg->networkId != sender->networkId) {
    // std::cout << this->name << " received New Client -> " <<
    // sender->ipAddress
    //           << ":" << (int)sender->port << "\n";
    NetworkIdMsg* msg = new NetworkIdMsg(sender->networkId);
-    sender->Send(msg);
+    this->Send(sender, msg);
    delete msg;
  }
 }
-void SiteServer::Process(RemoteParticipantUDP* sender, NetworkIdMsg* msg) {}
+void SiteServer::Process(Participant* sender, NetworkIdMsg* msg) {}
-void SiteServer::Process(RemoteParticipantUDP* sender, ThingMsg* msg) {
+void SiteServer::Process(Participant* sender, ThingMsg* msg) {
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
+  Thing* thing = sender->Get(msg->thingId);
-  if (thing == nullptr) {
+  if (thing == nullptr)
    // new Thing(sender, (Thing::Type)msg->thingType, msg->thingId);
    // Thing::Reconstruct(sender, msg->thingType, msg->thingId);
    //thing = new Thing(msg->thingType, sender->root);
-  }
+    ;
  thing->id = msg->thingId;
  if (msg->parentId != 0) {
-    thing->SetParent(Get(msg->networkId, msg->parentId));
+    thing->SetParent(Get(msg->parentId));
    if (thing->IsRoot())
    // if (thing->GetParent() != nullptr)
 #if defined(NO_STD)
--- a/Participants/SiteServer.h
+++ b/Participants/SiteServer.h
@ -2,11 +2,11 @@
 #include "ParticipantUDP.h"
-// #if !defined(NO_STD)
+#if !defined(NO_STD)
-// #include <functional>
+#include <functional>
-// #include <memory>
+#include <memory>
-// #include <unordered_map>
+#include <unordered_map>
-// #endif
+#endif
 namespace RoboidControl {
@ -33,9 +33,9 @@ class SiteServer : public ParticipantUDP {
 protected:
  unsigned long nextPublishMe = 0;
-  virtual void Process(RemoteParticipantUDP* sender, ParticipantMsg* msg) override;
+  virtual void Process(Participant* sender, ParticipantMsg* msg) override;
-  virtual void Process(RemoteParticipantUDP* sender, NetworkIdMsg* msg) override;
+  virtual void Process(Participant* sender, NetworkIdMsg* msg) override;
-  virtual void Process(RemoteParticipantUDP* sender, ThingMsg* msg) override;
+  virtual void Process(Participant* sender, ThingMsg* msg) override;
 #pragma endregion Receive
--- a/Posix/PosixMQTT.cpp
+++ b/Posix/PosixMQTT.cpp
@ -1,95 +0,0 @@
 #include "PosixMQTT.h"
 #if 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>
 #include <thread>
 namespace RoboidControl {
 MQTTParticipant::MQTTParticipant(const char* remoteIpAddress, int port)
    : MQTTParticipantBase(remoteIpAddress, port) {
  SetupTCP();
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  send_mqtt_connect("RoboidControl1");
  // sendSubscribe("domoticz/out");
 }
 void MQTTParticipant::SetupTCP() {
  // Create a TCP socket
  this->sock = socket(AF_INET, SOCK_STREAM, 0);
  if (this->sock < 0) {
    std::cerr << "Error creating socket" << std::endl;
    return;
  }
  // Set the socket to non-blocking mode
  int flags = fcntl(this->sock, F_GETFL, 0);
  fcntl(this->sock, F_SETFL, flags | O_NONBLOCK);
  this->remote_addr.sin_family = AF_INET;
  this->remote_addr.sin_port = htons(this->remoteSite->port);
  int result =
      inet_pton(AF_INET, this->remoteSite->ipAddress, &remote_addr.sin_addr);
  if (result <= 0) {
    std::cerr << "Invalid address/ Address not supported" << std::endl;
    close(this->sock);
    return;
  }
  int connect_result =
      connect(this->sock, (struct sockaddr*)&remote_addr, sizeof(remote_addr));
  if (connect_result < 0 && errno != EINPROGRESS) {
    std::cerr << "Error connecting to server:" << (int)errno << std::endl;
    close(this->sock);
    return;
  }
  std::cout << "TCP connection to " << this->remoteSite->ipAddress << ":"
            << this->remoteSite->port << "\n";
  this->connected = true;
 }
 void MQTTParticipant::SendTCP(int bufferSize) {
  send(this->sock, this->buffer, bufferSize, 0);
  std::cout << "Posix: sent TCP\n";
 }
 int MQTTParticipant::ReceiveTCP() {
  if (this->connected == false)
    return 0;
  int bytesReceived = recv(this->sock, this->buffer, sizeof(this->buffer) - 1, 0);
  if (bytesReceived > 0) {
    std::cout << " !\n";
    buffer[bytesReceived] = '\0';  // Null-terminate the received data
    std::cout << "Received: " << this->buffer << std::endl;
    return bytesReceived;
  } else if (bytesReceived == 0) {
    this->connected = false;
    // Connection has been gracefully closed
    std::cout << "Connection closed by the server." << std::endl;
    return 0;
  } else {
    if (errno == EAGAIN || errno == EWOULDBLOCK) {
      // No data available to read, continue the loop
      // std::cout << "No data available" << std::endl;
    } else {
      std::cerr << "Error receiving data: " << strerror(errno) << std::endl;
    }
    return 0;
  }
  return 0;
 }
 }  // namespace RoboidControl
 #endif
--- a/Posix/PosixMQTT.h
+++ b/Posix/PosixMQTT.h
@ -1,25 +0,0 @@
 #pragma once
 #if defined(__unix__) || defined(__APPLE__)
 #include "Participants/ParticipantMQTT.h"
 namespace RoboidControl {
 class MQTTParticipant : public MQTTParticipantBase {
 public:
  MQTTParticipant(const char* ipAddress, int port = 1883);
 protected:
  void SetupTCP() override;
  void SendTCP(int bufferSize) override;
  int ReceiveTCP() override;
  sockaddr_in remote_addr;
  int sock;
 };
 }  // namespace RoboidControl
 #endif
--- a/Posix/PosixParticipant.cpp
+++ b/Posix/PosixParticipant.cpp
@ -1,5 +1,4 @@
 #include "PosixParticipant.h"
 #if defined(__unix__) || defined(__APPLE__)
 #if defined(__unix__) || defined(__APPLE__)
 #include <arpa/inet.h>
@ -10,28 +9,28 @@
 #endif
 namespace RoboidControl {
 namespace Posix {
-ParticipantUDP::ParticipantUDP(int port) : ParticipantUDPGeneric(port) {}
+void ParticipantUDP::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
    : ParticipantUDPGeneric(ipAddress, port, localPort) {}
 void ParticipantUDP::SetupUDP(int localPort,
                              const char* remoteIpAddress,
                              int remotePort) {
 #if defined(__unix__) || defined(__APPLE__)
  // Create a UDP socket
  this->sock = socket(AF_INET, SOCK_DGRAM, 0);
  if (this->sock < 0) {
    std::cerr << "Error creating socket" << std::endl;
    return;
  }
-  // Set the socket to non-blocking mode
+// Set the socket to non-blocking mode
 #if defined(_WIN32) || defined(_WIN64)
  u_long mode = 1;  // 1 to enable non-blocking socket
  ioctlsocket(this->sock, FIONBIO, &mode);
 #elif defined(__unix__) || defined(__APPLE__)
  int flags = fcntl(this->sock, F_GETFL, 0);
  fcntl(this->sock, F_SETFL, flags | O_NONBLOCK);
 #endif
  if (remotePort != 0) {
    // Set up the address to send to
@ -56,8 +55,7 @@ void ParticipantUDP::SetupUDP(int localPort,
  }
  // Bind the socket to the specified port
-  if (bind(this->sock, (const struct sockaddr*)&server_addr,
+  if (bind(this->sock, (const struct sockaddr*)&server_addr, sizeof(server_addr)) < 0) {
           sizeof(server_addr)) < 0) {
    std::cerr << "Bind failed" << std::endl;
    close(sock);
  }
@ -65,59 +63,23 @@ void ParticipantUDP::SetupUDP(int localPort,
 #endif
 }
-void ParticipantUDP::SetupTCP(const char* remoteIpAddress, int remotePort) {
+void ParticipantUDP::Receive() {
 #if defined(__unix__) || defined(__APPLE__)
  // Create a UDP socket
  this->sock = socket(AF_INET, SOCK_STREAM, 0);
  if (this->sock < 0) {
    std::cerr << "Error creating socket" << std::endl;
    return;
  }
  remote_addr.sin_family = AF_INET;
  remote_addr.sin_port = htons(remotePort);
  inet_pton(AF_INET, remoteIpAddress, &remote_addr.sin_addr);
  int connect_result =
      connect(this->sock, (struct sockaddr*)&remote_addr, sizeof(remote_addr));
  if (connect_result < 0) {  //} && errno != EINPROGRESS) {
    std::cerr << "Error connecting to server" << std::endl;
    close(this->sock);
  }
  std::cout << "TCP connection to " << remoteIpAddress << ":" << remotePort
            << "\n";
  // Set the socket to non-blocking mode
  int flags = fcntl(this->sock, F_GETFL, 0);
  fcntl(this->sock, F_SETFL, flags | O_NONBLOCK);
 #endif
 }
 void ParticipantUDP::ReceiveUDP() {
 #if defined(__unix__) || defined(__APPLE__)
  sockaddr_in client_addr;
  socklen_t len = sizeof(client_addr);
-  int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0,
+  int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0, (struct sockaddr*)&client_addr, &len);
                            (struct sockaddr*)&client_addr, &len);
  if (packetSize > 0) {
    char sender_ipAddress[INET_ADDRSTRLEN];
-    inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress,
+    inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress, INET_ADDRSTRLEN);
              INET_ADDRSTRLEN);
    unsigned int sender_port = ntohs(client_addr.sin_port);
    ReceiveData(packetSize, sender_ipAddress, sender_port);
-    // RoboidControl::Participant* remoteParticipant =
+    // RoboidControl::Participant* remoteParticipant = this->Get(sender_ipAddress, sender_port);
-    // this->Get(sender_ipAddress, sender_port); if (remoteParticipant ==
+    // if (remoteParticipant == nullptr) {
    // nullptr) {
    //   remoteParticipant = this->Add(sender_ipAddress, 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";
    // }
@ -128,38 +90,12 @@ void ParticipantUDP::ReceiveUDP() {
 #endif
 }
-// int ParticipantUDP::ReceiveTCP() {
+bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
 // #if defined(__unix__) || defined(__APPLE__)
 //   int bytesReceived = recv(sock, buffer, sizeof(buffer) - 1, 0);
 //   if (bytesReceived > 0) {
 //     buffer[bytesReceived] = '\0';  // Null-terminate the received data
 //     std::cout << "Received: " << buffer << std::endl;
 //     return bytesReceived;
 //   } else if (bytesReceived == 0) {
 //     // Connection has been gracefully closed
 //     std::cout << "Connection closed by the server." << std::endl;
 //     return 0;
 //   } else {
 //     if (errno == EAGAIN || errno == EWOULDBLOCK) {
 //       // No data available to read, continue the loop
 //       // std::cout << "No data available" << std::endl;
 //     } else {
 //       std::cerr << "Error receiving data: " << strerror(errno) << std::endl;
 //     }
 //     return 0;
 //   }
 // #endif  // _WIN32 || _WIN64
 //   return 0;
 // }
 bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant,
                            int bufferSize) {
 #if defined(__unix__) || defined(__APPLE__)
-  // std::cout << "Send to " << remoteParticipant->ipAddress << ":" <<
+  // std::cout << "Send to " << remoteParticipant->ipAddress << ":" << ntohs(remoteParticipant->port)
  // ntohs(remoteParticipant->port)
  //           << "\n";
-  // Set up the destination address
+            // Set up the destination address
  struct sockaddr_in dest_addr;
  memset(&dest_addr, 0, sizeof(dest_addr));
  dest_addr.sin_family = AF_INET;
@ -167,11 +103,9 @@ bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant,
  dest_addr.sin_addr.s_addr = inet_addr(remoteParticipant->ipAddress);
  // Send the message
-  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0,
+  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0, (struct sockaddr*)&dest_addr, sizeof(dest_addr));
                          (struct sockaddr*)&dest_addr, sizeof(dest_addr));
  if (sent_bytes < 0) {
-    std::cerr << "sendto failed with error: " << sent_bytes << "  "
+    std::cerr << "sendto failed with error: " << sent_bytes << "  " << strerror(errno) << std::endl;
              << strerror(errno) << std::endl;
    close(sock);
    return false;
  }
@ -179,19 +113,6 @@ bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant,
  return true;
 }
 // bool ParticipantUDP::SendTCP(int bufferSize) {
 // #if defined(__unix__) || defined(__APPLE__)
 //   // send(sock, this->buffer, bufferSize, 0);
 //   ssize_t sent_bytes = send(this->sock, this->buffer, bufferSize, 0);
 //   if (sent_bytes < 0) {
 //     std::cerr << "Failed to send packet" << strerror(errno) << std::endl;
 //     close(sock);
 //     return -1;
 //   }
 // #endif
 //   return false;
 // }
 bool ParticipantUDP::Publish(IMessage* msg) {
 #if defined(__unix__) || defined(__APPLE__)
  int bufferSize = msg->Serialize(this->buffer);
@ -200,11 +121,8 @@ bool ParticipantUDP::Publish(IMessage* msg) {
  char ip_str[INET_ADDRSTRLEN];
  inet_ntop(AF_INET, &(broadcast_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
-  std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port)
+  std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port) << "\n";
-            << "\n";
+  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0, (struct sockaddr*)&broadcast_addr, sizeof(broadcast_addr));
  int sent_bytes =
      sendto(sock, this->buffer, bufferSize, 0,
             (struct sockaddr*)&broadcast_addr, sizeof(broadcast_addr));
  if (sent_bytes < 0) {
    std::cerr << "sendto failed with error: " << sent_bytes << std::endl;
    close(sock);
@ -214,6 +132,5 @@ bool ParticipantUDP::Publish(IMessage* msg) {
  return true;
 }
 }  // namespace Posix
 }  // namespace RoboidControl
 #endif
--- a/Posix/PosixParticipant.h
+++ b/Posix/PosixParticipant.h
@ -1,36 +1,16 @@
 #pragma once
 #if defined(__unix__) || defined(__APPLE__)
 #include "Participants/ParticipantUDP.h"
 namespace RoboidControl {
 namespace Posix {
-class ParticipantUDP : public ParticipantUDPGeneric {
+class ParticipantUDP : public RoboidControl::ParticipantUDP {
 public:
-  /// @brief Create a participant without connecting to a site
+  void Setup(int localPort, const char* remoteIpAddress, int remotePort);
-  /// @param port The port on which the participant communicates
+  void Receive();
-  /// These participant typically broadcast Participant messages to let site
+  bool Send(Participant* remoteParticipant, int bufferSize);
-  /// servers on the local network know their presence. Alternatively they can
+  bool Publish(IMessage* msg);
  /// broadcast information which can be used directly by other participants.
  ParticipantUDP(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
  /// @param localPort The port used by the local participant
  ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);
  void SetupUDP(int localPort,
                const char* remoteIpAddress,
                int remotePort) override;
  void ReceiveUDP() override;
  //void Setup(int localPort, const char* remoteIpAddress, int remotePort);
  void SetupTCP(const char* remoteIpAddress, int remotePort);
  // void Receive();
  int ReceiveTCP();
  bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
  bool Publish(IMessage* msg) override;
 protected:
 #if defined(__unix__) || defined(__APPLE__)
@ -40,5 +20,5 @@ class ParticipantUDP : public ParticipantUDPGeneric {
 #endif
 };
 }  // namespace Posix
 }  // namespace RoboidControl
 #endif
--- a/README.md
+++ b/README.md
@ -14,60 +14,4 @@ Supporting:
 # Basic components
 - RoboidControl::Thing
- RoboidControl::Participant
+- RoboidControl::Participant
 # Installation
 ## Core code
 The repository uses cmake for building. You can place it in a subfolder of your project and include it in you `CMakeLists.txt`.
 For example if the library is placed in the subfolder `roboidcontrol`:
 ```
 # Add the path to Roboid Control
 add_subdirectory(roboidcontrol)
 # Your source files/executable
 add_executable(my_executable main.cpp) 
 # Link against RoboidControl
 target_link_libraries(my_executable RoboidControl)
 ```
 ## Arduino (PlatformIO)
 Arduino is only supported in combination with PlatformIO. The Arduino IDE is not (yet?) supported.
 The best way to include support for Roboid Control in PlatformIO is
 to clone the Roboid Control for C++ repository into a subfolder of the /lib folder.
 Alternatively you can download the zip file and unpack it as a subfolder of the /lib folder.
 ## ESP-IDF
 The best way to include support for Roboid Control in PlatformIO is
 to clone the Roboid Control for C++ repository into a subfolder of the /components folder.
 Alternatively you can download the zip file and unpack it as a subfolder of the /components folder.
 Make sure you have included RoboidControl as a component in your top-level CMakeLists.txt, for example:
 ```
 list(APPEND EXTRA_COMPONENT_DIRS
    components/RoboidControl    
    )
 ```
 # Get Started
 ## Core C++ Examples
 This repository contains examples in the `examples` folder. You can build these using cmake.
 For example, to build the BB2A example:
 ``` 
 cmake -B build -D BUILD_EXAMPLE_BB2A=ON
 cmake --build build
 ```
 The resulting executable is then `build/examples/Debug/BB2A.exe`
 ## Arduino (PlatformIO) Examples
 Specific examples for the Arduino platform are found in the `Arduino\examples` folder.
 To use them you should create a new project in PlatformIO and then copy the example code to your project.
--- a/Testing/Temporary/LastTest.log
+++ b/Testing/Temporary/LastTest.log
@ -1,3 +0,0 @@
 Start testing: Jun 17 17:17 W. Europe Summer Time
 ----------------------------------------------------------
 End testing: Jun 17 17:17 W. Europe Summer Time
--- a/Thing.cpp
+++ b/Thing.cpp
@ -28,8 +28,7 @@ Thing* Thing::LocalRoot() {
 // Only use this for root things
 Thing::Thing(Participant* owner) {
-  this->type = Type::Root;
+  this->type = Type::Roboid;  // should become root
  this->name = "Root";
  this->position = Spherical::zero;
  this->positionUpdated = true;
@ -41,16 +40,12 @@ Thing::Thing(Participant* owner) {
  this->angularVelocity = Spherical::zero;
  this->owner = owner;
-  this->owner->Add(this);
+  //this->owner->Add(this, true);
  std::cout << this->owner->name << ": New root thing " << std::endl;
 }
-void Thing::CreateRoot(Participant* owner) {
+Thing::Thing(unsigned char thingType, Thing* parent) {
-  owner->root = new Thing(owner);
+  this->type = thingType;
 }
 Thing::Thing(Thing* parent) {
  this->type = Type::Undetermined;
  this->position = Spherical::zero;
  this->positionUpdated = true;
@ -73,6 +68,13 @@ Thing::~Thing() {
  std::cout << "Destroy thing " << this->name << std::endl;
 }
 // Thing Thing::Reconstruct(Participant* owner, unsigned char thingType,
 // unsigned char thingId) {
 //   Thing thing = Thing(owner, thingType);
 //   thing.id = thingId;
 //   return thing;
 // }
 #pragma endregion Init
 void Thing::SetName(const char* name) {
@ -101,10 +103,25 @@ void Thing::SetParent(Thing* parent) {
  this->hierarchyChanged = true;
 }
 // void Thing::SetParent(Thing* parent) {
 //   parent->AddChild(this);
 //   this->hierarchyChanged = true;
 // }
 // const Thing& Thing::GetParent() {
 //   return *this->parent;
 // }
 bool Thing::IsRoot() const {
-  return this == LocalRoot() || this->parent == nullptr;
+  return this == LocalRoot() || this->parent == nullptr;  //&Thing::Root;
 }
 // void Thing::SetParent(Thing* root, const char* name) {
 //   Thing* thing = root->FindChild(name);
 //   if (thing != nullptr)
 //     this->SetParent(thing);
 // }
 Thing* Thing::GetParent() {
  return this->parent;
 }
@ -253,16 +270,24 @@ unsigned long Thing::GetTimeMs() {
 #endif
 }
 // void Thing::Update(bool recursive) {
 //   Update(GetTimeMs(), recursive);
 // }
 void Thing::PrepareForUpdate() {}
 void Thing::Update(bool recursive) {
  // if (this->positionUpdated || this->orientationUpdated)
  //   OnPoseChanged callback
  this->positionUpdated = false;
  this->orientationUpdated = false;
-  this->linearVelocityUpdated = false;
+  // this->linearVelocityUpdated = false;
-  this->angularVelocityUpdated = false;
+  // this->angularVelocityUpdated = false;
  this->hierarchyChanged = false;
  this->nameChanged = false;
  if (recursive) {
-     std::cout << "# children: " << (int)this->childCount << std::endl;
+    // std::cout << "# children: " << (int)this->childCount << std::endl;
    for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
      Thing* child = this->children[childIx];
      if (child == nullptr)
@ -272,6 +297,10 @@ void Thing::Update(bool recursive) {
  }
 }
 void Thing::UpdateThings() {
  IsolatedParticipant::Isolated()->Update();
 }
 #pragma endregion Update
 int Thing::GenerateBinary(char* buffer, unsigned char* ix) {
--- a/Thing.h
+++ b/Thing.h
@ -10,7 +10,7 @@
 namespace RoboidControl {
 class Participant;
-class ParticipantUDPGeneric;
+class ParticipantUDP;
 #define THING_STORE_SIZE 256
 // IMPORTANT: values higher than 256 will need to change the Thing::id type
@ -20,57 +20,57 @@ class ParticipantUDPGeneric;
 class Thing {
 public:
  /// @brief Predefined thing types
-  struct Type {
+  enum Type : unsigned char {
-    static const unsigned char Undetermined = 0x00;
+    Undetermined,
-    // Sensor
+    // Sensor,
-    static const unsigned char Switch = 0x01;
+    Switch,
-    static const unsigned char DistanceSensor = 0x02;
+    DistanceSensor,
-    static const unsigned char DirectionalSensor = 0x03;
+    DirectionalSensor,
-    static const unsigned char TemperatureSensor = 0x04;
+    TemperatureSensor,
-    static const unsigned char TouchSensor = 0x05;
+    TouchSensor,
-    // Motor
+    // Motor,
-    static const unsigned char ControlledMotor = 0x06;
+    ControlledMotor,
-    static const unsigned char UncontrolledMotor = 0x07;
+    UncontrolledMotor,
-    static const unsigned char Servo = 0x08;
+    Servo,
-    static const unsigned char RelativeEncoder = 0x19;
+    IncrementalEncoder,
    // Other
-    static const unsigned char Root = 0x10;
+    Roboid,
-    static const unsigned char Roboid = 0x09;
+    Humanoid,
-    static const unsigned char Humanoid = 0x0A;
+    ExternalSensor,
-    static const unsigned char ExternalSensor = 0x08;
+    DifferentialDrive
    static const unsigned char Animator = 0x0C;
    static const unsigned char DifferentialDrive = 0x0D;
  };
 #pragma region Init
  static Thing* LocalRoot();
 private:
  // Special constructor to create a root thing
  Thing(Participant* parent);
  // Which can only be used by the Participant
  friend class Participant;
 public:
-  /// @brief Create a new Thing
+  /// @brief Create a new thing
  /// @param thingType The type of thing (can use Thing::Type)
  /// @param parent (optional) The parent thing
  /// The owner will be the same as the owner of the parent thing, it will
  /// be Participant::LocalParticipant if the parent is not specified. A thing
-  /// without a parent will be connected to the root thing.
+  /// without a parent will be a root thing.
-  Thing(Thing* parent = LocalRoot());
+  Thing(unsigned char thingType = Thing::Type::Undetermined,
        Thing* parent = LocalRoot());
- private:
+  /// @brief Create a new child thing
-  /// @brief Constructor to create a root thing
+  /// @param parent The parent thing
-  /// @param owner The participant who will own this root thing
+  /// @param thingType The type of thing (can use Thing::Type)
-  /// @remarks This function is private because CreateRoot() should be used
+  /// @param thingId The ID of the thing, leave out or set to zero to generate
-  /// instead
+  /// an ID
-  Thing(Participant* owener);
+  /// @note The owner will be the same as the owner of the parent thing
 public:
  /// @brief Destructor for a Thing
  ~Thing();
-  /// @brief Create a root thing for a participant
+  static Thing Reconstruct(Participant* owner,
-  /// @param owner The participant who will own this root thing
+                           unsigned char thingType,
-  static void CreateRoot(Participant* owner);
+                           unsigned char thingId);
  /// @brief The root thing for the local participant
  /// @return The root thing for the local participant
  static Thing* LocalRoot();
 #pragma endregion Init
@ -80,7 +80,9 @@ class Thing {
 #pragma region Properties
- public:
+  /// @brief The participant managing this thing
  Participant* owner = nullptr;
  /// @brief The ID of the thing
  unsigned char id = 0;
@ -88,17 +90,10 @@ class Thing {
  /// This can be either a Thing::Type of a byte value for custom types
  unsigned char type = Type::Undetermined;
  /// @brief Is this a remote thing?
  /// A remote thing is owned by other participant
  /// and is not simulated by the local participant
  bool isRemote = false;
  /// @brief The participant owning this thing
  Participant* owner = nullptr;
  /// @brief The name of the thing
  const char* name = nullptr;
 public:
  void SetName(const char* name);
  const char* GetName() const;
  bool nameChanged = false;
@ -107,12 +102,14 @@ class Thing {
  /// loaded from
  /// @param url The url of the model
  /// @remark Although the roboid implementation is not dependent on the model,
-  /// the only official supported model formats are .png (sprite), .gltf and .glb
+  /// the only official supported model format is .obj
  void SetModel(const char* url);
  /// @brief An URL pointing to the location where a model of the thing can be
  /// found
  const char* modelUrl = nullptr;
  /// @brief The scale of the model (deprecated I think)
  float modelScale = 1;
 #pragma endregion Properties
@ -120,13 +117,13 @@ class Thing {
  /// @brief Sets the parent of this Thing
  /// @param parent The Thing which should become the parent
  // virtual void SetParent(Thing* parent);
  void SetParent(Thing* parent);
  /// @brief Gets the parent of this Thing
  /// @return The parent Thing
  // Thing* GetParent();
  Thing* GetParent();
  /// @brief Check if this is a root thing
  /// @return True is this thing is a root
  bool IsRoot() const;
  /// @brief The number of children
@ -228,12 +225,16 @@ class Thing {
 #pragma region Update
 public:
-  //virtual void PrepareForUpdate();
+  virtual void PrepareForUpdate();
  /// @brief Updates the state of the thing
  /// @param currentTimeMs The current clock time in milliseconds; if this is
  /// zero, the current time is retrieved automatically
  /// @param recurse When true, this will Update the descendants recursively
  virtual void Update(bool recurse = false);
  static void UpdateThings();
  /// @brief Get the current time in milliseconds
  /// @return The current time in milliseconds
  static unsigned long GetTimeMs();
--- a/Things/ControlledMotor.cpp
+++ b/Things/ControlledMotor.cpp
@ -39,8 +39,8 @@ void ControlledMotor::Update(bool recurse) {
  this->lastError = error;
  float output = p_term + i_term + d_term;
-  // std::cout << "target " << this->targetVelocity << " actual "
+  std::cout << "target " << this->targetVelocity << " actual "
-  //           << this->actualVelocity << " output = " << output << std::endl;
+            << this->actualVelocity << " output = " << output << std::endl;
  // float acceleration =
  //     error * timeStep * pidP;  // Just P is used at this moment
  // std::cout << "motor acc. " << acceleration << std::endl;
--- a/Things/DifferentialDrive.cpp
+++ b/Things/DifferentialDrive.cpp
@ -4,8 +4,8 @@
 namespace RoboidControl {
-DifferentialDrive::DifferentialDrive(Thing* parent) : Thing(parent) {
+DifferentialDrive::DifferentialDrive(Thing* parent)
-  this->type = Type::DifferentialDrive;
+    : Thing(Type::DifferentialDrive, parent) {
  this->name = "Differential drive";
  this->leftWheel = new Motor(this);
@ -18,8 +18,7 @@ DifferentialDrive::DifferentialDrive(Thing* parent) : Thing(parent) {
 DifferentialDrive::DifferentialDrive(Motor* leftMotor,
                                     Motor* rightMotor,
                                     Thing* parent)
-    : Thing(parent) {
+    : Thing(Type::DifferentialDrive, parent) {
  this->type = Type::DifferentialDrive;
  this->name = "Differential drive";
  this->leftWheel = leftMotor;
  this->rightWheel = rightMotor;
--- a/Things/DigitalSensor.cpp
+++ b/Things/DigitalSensor.cpp
@ -2,9 +2,18 @@
 namespace RoboidControl {
-DigitalSensor::DigitalSensor(Thing* parent) : Thing(parent) {
+//DigitalSensor::DigitalSensor() : Thing(Type::Switch) {}
-  this->type = Type::Switch;
+
-}
+// DigitalSensor::DigitalSensor(Participant* owner, unsigned char thingId)
 //     : Thing(owner, Type::Switch, thingId) {}
 // DigitalSensor::DigitalSensor(Thing* parent, unsigned char thingId)
 //     : Thing(parent, Type::Switch) {}
 // DigitalSensor::DigitalSensor(Participant* owner) : Thing(owner, Type::Switch) {}
 // DigitalSensor::DigitalSensor(Thing* parent) : Thing(parent, Type::Switch) {}
 DigitalSensor::DigitalSensor(Thing* parent) : Thing(Type::Switch, parent) {}
 int DigitalSensor::GenerateBinary(char* bytes, unsigned char* ix) {
  bytes[(*ix)++] = state ? 1 : 0;
--- a/Things/DistanceSensor.cpp
+++ b/Things/DistanceSensor.cpp
@ -1,29 +0,0 @@
 #include "DistanceSensor.h"
 #include "Messages/LowLevelMessages.h"
 namespace RoboidControl {
 DistanceSensor::DistanceSensor(Thing* parent) : Thing(parent) {
  this->type = Type::DistanceSensor;
  this->name = "Distance sensor";
 }
 float DistanceSensor::GetDistance() {
  if (this->externalDistance < this->internalDistance)
    return this->externalDistance;
  else
    return this->internalDistance;
 }
 int DistanceSensor::GenerateBinary(char* bytes, unsigned char* ix) {
  LowLevelMessages::SendFloat16(bytes, ix, this->internalDistance);
  return *ix;
 }
 void DistanceSensor::ProcessBinary(char* bytes) {
  unsigned char ix = 0;
  this->externalDistance = LowLevelMessages::ReceiveFloat16(bytes, &ix);
 }
 }  // namespace RoboidControl
--- a/Things/DistanceSensor.h
+++ b/Things/DistanceSensor.h
@ -1,41 +0,0 @@
 #pragma once
 #if !NO_STD
 #include <limits>
 #endif
 #include "Thing.h"
 namespace RoboidControl {
 /// @brief A sensor measuring distance
 class DistanceSensor : public Thing {
 public:
  /// @brief Create a new child touch sensor
  /// @param parent The parent thing
  /// @param thingId The ID of the thing, leave out or set to zero to generate
  /// an ID
  DistanceSensor(Thing* parent = Thing::LocalRoot());
  /// @brief Get the current distance
  float GetDistance();
  /// @brief Function used to generate binary data for this sensor
  /// @param buffer The byte array for thw binary data
  /// @param ix The starting position for writing the binary data
  int GenerateBinary(char* bytes, unsigned char* ix) override;
  /// @brief Function used to process binary data received for this sensor
  /// @param bytes The binary data to process
  virtual void ProcessBinary(char* bytes) override;
 protected:
 #if ARDUNIO
  float internalDistance = INFINITY;
  float externalDistance = INFINITY;
 #else
  float internalDistance = std::numeric_limits<double>::infinity();
  float externalDistance = std::numeric_limits<double>::infinity();
 #endif
 };
 }  // namespace RoboidControl
--- a/Things/Motor.cpp
+++ b/Things/Motor.cpp
@ -1,29 +1,11 @@
 #include "Motor.h"
 #include "Messages/BinaryMsg.h"
 #include "Participant.h"
 namespace RoboidControl {
-Motor::Motor(Thing* parent) : Thing(parent) {
+Motor::Motor(Thing* parent) : Thing(Type::UncontrolledMotor, parent) {}
  this->type = Type::UncontrolledMotor;
 }
 void Motor::SetTargetVelocity(float targetSpeed) {
  if (targetSpeed != this->targetVelocity) {
    this->targetVelocity = targetSpeed;
    if (this->owner->networkId != 0) {
      // in other word: if we are connected...
      BinaryMsg* binaryMsg = new BinaryMsg(this->owner->networkId, this);
      this->owner->Send(binaryMsg);
      delete binaryMsg;
    }
  }
 }
 float Motor::GetTargetVelocity() {
  return this->targetVelocity;
 }
 int Motor::GenerateBinary(char* data, unsigned char* ix) {
--- a/Things/Motor.h
+++ b/Things/Motor.h
@ -14,11 +14,11 @@ class Motor : public Thing {
  Direction direction;
  virtual void SetTargetVelocity(float velocity);  // -1..0..1
  virtual float GetTargetVelocity();
  int GenerateBinary(char* bytes, unsigned char* ix) override;
  // virtual void ProcessBinary(char* bytes) override;
- protected:
+ //protected:
  float targetVelocity = 0;
 };
--- a/Things/RelativeEncoder.cpp
+++ b/Things/RelativeEncoder.cpp
@ -2,9 +2,8 @@
 namespace RoboidControl {
-RelativeEncoder::RelativeEncoder(Thing* parent) : Thing(parent) {
+RelativeEncoder::RelativeEncoder(Thing* parent)
-  this->type = Type::RelativeEncoder;
+    : Thing(Type::IncrementalEncoder, parent) {}
 }
 float RelativeEncoder::GetRotationSpeed() {
  return rotationSpeed;
--- a/Things/TemperatureSensor.cpp
+++ b/Things/TemperatureSensor.cpp
@ -4,9 +4,15 @@
 namespace RoboidControl {
-TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(parent) {
+// TemperatureSensor::TemperatureSensor(Participant* participant,
-  this->type = Type::TemperatureSensor;
+//                                      unsigned char thingId)
-}
+//     : Thing(participant, Type::TemperatureSensor, thingId) {}
 // TemperatureSensor::TemperatureSensor(Participant* owner) : Thing(owner, Type::TemperatureSensor) {}
 TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(Type::TemperatureSensor, parent) {}
 // TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(parent, Type::TemperatureSensor) {}
 void TemperatureSensor::SetTemperature(float temp) {
  this->temperature = temp;
--- a/Things/TouchSensor.cpp
+++ b/Things/TouchSensor.cpp
@ -2,26 +2,20 @@
 namespace RoboidControl {
-TouchSensor::TouchSensor(Thing* parent) : Thing(parent) {
+TouchSensor::TouchSensor(Thing* parent) : Thing(Type::TouchSensor, parent) {
  this->type = Type::TouchSensor;
  this->name = "Touch sensor";
 }
-bool TouchSensor::IsTouching() {
+void TouchSensor::PrepareForUpdate() {
-  return this->internalTouch || this->externalTouch;
+  this->touchedSomething = this->externalTouch;
 }
 // void TouchSensor::PrepareForUpdate() {
 //   //this->internalTouch = this->externalTouch;
 // }
 void TouchSensor::Update(bool recursive) {
  Thing::Update(recursive);
 }
 int TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {
-  std::cout << "BinaryMsg Touch " << this->internalTouch << std::endl;
+  bytes[(*ix)++] = this->touchedSomething ? 1 : 0;
  bytes[(*ix)++] = this->internalTouch ? 1 : 0;
  return 1;
 }
--- a/Things/TouchSensor.h
+++ b/Things/TouchSensor.h
@ -6,7 +6,7 @@ namespace RoboidControl {
 /// @brief A sensor which can detect touches
 class TouchSensor : public Thing {
-// When finishing this release (0.3), I notice that this is equivalent to a digital sensor
+// Why finishing this release (0.3), I notice that this is equivalent to a digital sensor
 public:
  /// @brief Create a new child touch sensor
  /// @param parent The parent thing
@ -16,9 +16,9 @@ class TouchSensor : public Thing {
  /// @brief Value which is true when the sensor is touching something, false
  /// otherwise
-  bool IsTouching();
+  bool touchedSomething = false;
-  //virtual void PrepareForUpdate() override;
+  virtual void PrepareForUpdate() override;
  virtual void Update(bool recursive) override;
  /// @brief Function used to generate binary data for this touch sensor
@ -30,7 +30,6 @@ class TouchSensor : public Thing {
  virtual void ProcessBinary(char* bytes) override;
 protected:
  bool externalTouch = false;
  bool internalTouch = false;
 };
 }  // namespace RoboidControl
--- a/Windows/WindowsParticipant.cpp
+++ b/Windows/WindowsParticipant.cpp
@ -1,5 +1,4 @@
 #include "WindowsParticipant.h"
 #if defined(_WIN32) || defined(_WIN64)
 #if defined(_WIN32) || defined(_WIN64)
 #include <winsock2.h>
@ -8,12 +7,9 @@
 #endif
 namespace RoboidControl {
 namespace Windows {
-ParticipantUDP::ParticipantUDP() {}
+void ParticipantUDP::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 void ParticipantUDP::Setup(int localPort,
                           const char* remoteIpAddress,
                           int remotePort) {
 #if defined(_WIN32) || defined(_WIN64)
  // Create a UDP socket
@ -23,28 +19,19 @@ void ParticipantUDP::Setup(int localPort,
    std::cerr << "WSAStartup failed" << std::endl;
    return;
  }
  // Create an UDP socket
  this->sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
-  if (this->sock == INVALID_SOCKET) {
+
-    std::cerr << "UDP Socket creation failed: " << WSAGetLastError()
+  if (this->sock < 0) {
-              << std::endl;
+    std::cerr << "Error creating socket" << std::endl;
    WSACleanup();
    return;
  }
-  // Set the socket to non-blocking mode
+// Set the socket to non-blocking mode
  u_long mode = 1;  // 1 to enable non-blocking socket
-  if (ioctlsocket(sock, FIONBIO, &mode) != NO_ERROR) {
+  ioctlsocket(this->sock, FIONBIO, &mode);
    std::cerr << "Failed to set non-blocking mode: " << WSAGetLastError()
              << std::endl;
    closesocket(sock);
    WSACleanup();
    return;
  }
  if (remotePort != 0) {
-    // Define the server address
+    // Set up the address to send to
    memset(&remote_addr, 0, sizeof(remote_addr));
    remote_addr.sin_family = AF_INET;
    remote_addr.sin_port = htons((u_short)remotePort);
@ -68,64 +55,13 @@ void ParticipantUDP::Setup(int localPort,
  }
  // Bind the socket to the specified port
-  if (bind(this->sock, (const struct sockaddr*)&server_addr,
+  if (bind(this->sock, (const struct sockaddr*)&server_addr, sizeof(server_addr)) < 0) {
           sizeof(server_addr)) < 0) {
    std::cerr << "Bind failed" << std::endl;
    closesocket(sock);
    WSACleanup();
  }
-#endif  // _WIN32 || _WIN64
+#endif // _WIN32 || _WIN64
 }
 void ParticipantUDP::SetupTCP(const char* remoteIpAddress, int remotePort) {
 #if defined(_WIN32) || defined(_WIN64)
  // Initialize Winsock
  WSADATA wsaData;
  if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
    std::cerr << "WSAStartup failed: " << std::endl;
    return;
  }
  // Create a TCP socket
  this->sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
  if (sock == INVALID_SOCKET) {
    std::cerr << "TCP Socket creation failed: " << WSAGetLastError()
              << std::endl;
    WSACleanup();
    return;
  }
  // Set the socket to non-blocking mode
  u_long mode = 1;  // 1 to enable non-blocking socket
  if (ioctlsocket(sock, FIONBIO, &mode) != NO_ERROR) {
    std::cerr << "Failed to set non-blocking mode: " << WSAGetLastError()
              << std::endl;
    closesocket(sock);
    WSACleanup();
    return;
  }
  // Define the server address
  memset(&this->remote_addr, 0, sizeof(server_addr));
  this->remote_addr.sin_family = AF_INET;
  this->remote_addr.sin_port = htons((u_short)remotePort);
  if (inet_pton(AF_INET, remoteIpAddress, &this->remote_addr.sin_addr) <= 0) {
    std::cerr << "Invalid address" << std::endl;
    closesocket(sock);
    WSACleanup();
    return;
  }
  // Connect to the server
  if (connect(sock, (sockaddr*)&this->remote_addr, sizeof(this->remote_addr)) ==
      SOCKET_ERROR) {
    std::cerr << "Connection failed: " << WSAGetLastError() << std::endl;
    closesocket(sock);
    WSACleanup();
    return;
  }
 #endif  // _WIN32 || _WIN64
 }
 void ParticipantUDP::Receive() {
@ -137,8 +73,7 @@ void ParticipantUDP::Receive() {
  sockaddr_in client_addr;
  int len = sizeof(client_addr);
-  int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0,
+  int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0, (struct sockaddr*)&client_addr, &len);
                            (struct sockaddr*)&client_addr, &len);
  // std::cout << "received data " << packetSize << "\n";
  if (packetSize < 0) {
    int error_code = WSAGetLastError();  // Get the error code on Windows
@ -146,14 +81,12 @@ void ParticipantUDP::Receive() {
      std::cerr << "recvfrom failed with error: " << error_code << std::endl;
  } else if (packetSize > 0) {
    char sender_ipAddress[INET_ADDRSTRLEN];
-    inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress,
+    inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress, INET_ADDRSTRLEN);
              INET_ADDRSTRLEN);
    unsigned int sender_port = ntohs(client_addr.sin_port);
    ReceiveData(packetSize, sender_ipAddress, sender_port);
-    // RoboidControl::ParticipantUDP* remoteParticipant =
+    // RoboidControl::ParticipantUDP* remoteParticipant = this->Get(sender_ipAddress, sender_port);
-    // this->Get(sender_ipAddress, sender_port); if (remoteParticipant ==
+    // if (remoteParticipant == nullptr) {
    // nullptr) {
    //   remoteParticipant = this->Add(sender_ipAddress, sender_port);
    //   // std::cout << "New sender " << sender_ipAddress << ":"
    //   //           << sender_port << "\n";
@ -166,43 +99,15 @@ void ParticipantUDP::Receive() {
    // ReceiveData(packetSize, remoteParticipant);
  }
-#endif  // _WIN32 || _WIN64
+#endif // _WIN32 || _WIN64
 }
-int ParticipantUDP::ReceiveTCP() {
+bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(_WIN32) || defined(_WIN64)
  int bytesReceived = recv(sock, buffer, sizeof(buffer) - 1, 0);
  if (bytesReceived > 0) {
    buffer[bytesReceived] = '\0';  // Null-terminate the received data
    std::cout << "Received: " << buffer << std::endl;
    return bytesReceived;
  } else if (bytesReceived == 0) {
    // Connection has been gracefully closed
    std::cout << "Connection closed by the server." << std::endl;
    return 0;
  } else {
    int error = WSAGetLastError();
    if (error == WSAEWOULDBLOCK) {
      // No data available, continue with other tasks
      std::cout << "No data available, continuing..." << std::endl;
      // You can add a sleep or other logic here to avoid busy waiting
    } else {
      std::cerr << "Receive failed: " << error << std::endl;
    }
    return 0;
  }
 #endif  // _WIN32 || _WIN64
  return 0;
 }
 bool ParticipantUDP::SendTo(RemoteParticipantUDP* 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);
-  std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)
+  std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port) << "\n";
-            << "\n";
+  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0, (struct sockaddr*)&remote_addr, sizeof(remote_addr));
  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0,
                          (struct sockaddr*)&remote_addr, sizeof(remote_addr));
  if (sent_bytes <= SOCKET_ERROR) {
    int error_code = WSAGetLastError();  // Get the error code on Windows
@ -211,17 +116,10 @@ bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant, int bufferS
    WSACleanup();
    return false;
  }
-#endif  // _WIN32 || _WIN64
+#endif // _WIN32 || _WIN64
  return true;
 }
 bool ParticipantUDP::SendTCP(int bufferSize) {
 #if defined(_WIN32) || defined(_WIN64)
  send(sock, this->buffer, bufferSize, 0);
 #endif
  return false;
 }
 bool ParticipantUDP::Publish(IMessage* msg) {
 #if defined(_WIN32) || defined(_WIN64)
  int bufferSize = msg->Serialize(this->buffer);
@ -230,11 +128,8 @@ bool ParticipantUDP::Publish(IMessage* msg) {
  char ip_str[INET_ADDRSTRLEN];
  inet_ntop(AF_INET, &(broadcast_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
-  std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port)
+  std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port) << "\n";
-            << "\n";
+  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0, (struct sockaddr*)&broadcast_addr, sizeof(broadcast_addr));
  int sent_bytes =
      sendto(sock, this->buffer, bufferSize, 0,
             (struct sockaddr*)&broadcast_addr, sizeof(broadcast_addr));
  if (sent_bytes <= SOCKET_ERROR) {
    int error_code = WSAGetLastError();  // Get the error code on Windows
@ -243,10 +138,9 @@ bool ParticipantUDP::Publish(IMessage* msg) {
    WSACleanup();
    return false;
  }
-#endif  // _WIN32 || _WIN64
+#endif // _WIN32 || _WIN64
  return true;
 }
 }  // namespace Windows
 }  // namespace RoboidControl
 #endif
--- a/Windows/WindowsParticipant.h
+++ b/Windows/WindowsParticipant.h
@ -1,27 +1,22 @@
 #pragma once
 #if defined(_WIN32) || defined(_WIN64)
 #include "Participants/ParticipantUDP.h"
 namespace RoboidControl {
 namespace Windows {
-class ParticipantUDP : public ParticipantUDPGeneric {
+class ParticipantUDP : public RoboidControl::ParticipantUDP {
 public:
  ParticipantUDP();
  void Setup(int localPort, const char* remoteIpAddress, int remotePort);
-  void SetupTCP(const char* remoteIpAddres, int remotePort);
+  void Receive();
-  bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
+  bool Send(Participant* remoteParticipant, int bufferSize);
  bool SendTCP(int bufferSize);
  bool Publish(IMessage* msg);
  void Receive();
  int ReceiveTCP();
 protected:
-#if defined(_WIN32) || defined(_WIN64)
+ #if defined(_WIN32) || defined(_WIN64)
  SOCKET sock;
-#endif
+  #endif
 };
 }  // namespace Windows
 }  // namespace RoboidControl
 #endif
--- a/examples/BB2A/main.cpp
+++ b/examples/BB2A/main.cpp
@ -27,10 +27,10 @@ int main() {
  while (true) {
    // The left wheel turns forward when nothing is touched on the right side
    // and turn backward when the roboid hits something on the right
-    float leftWheelSpeed = (touchRight.IsTouching()) ? -600.0f : 600.0f;
+    float leftWheelSpeed = (touchRight.touchedSomething) ? -600.0f : 600.0f;
    // The right wheel does the same, but instead is controlled by
    // touches on the left side
-    float rightWheelSpeed = (touchLeft.IsTouching()) ? -600.0f : 600.0f;
+    float rightWheelSpeed = (touchLeft.touchedSomething) ? -600.0f : 600.0f;
    // When both sides are touching something, both wheels will turn backward
    // and the roboid will move backwards
    bb2b.SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
@ -40,9 +40,9 @@ int main() {
    // and sleep for 100ms
 #if defined(ARDUINO)
-    delay(10);
+    delay(100);
 #else
-    sleep_for(milliseconds(10));
+    sleep_for(milliseconds(100));
 #endif
  }
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@ -1,8 +1,25 @@
 # examples/CMakeLists.txt
-# Check if the options are enabled and add the corresponding examples
+# Specify the minimum CMake version
-if(BUILD_EXAMPLE_BB2A)
+cmake_minimum_required(VERSION 3.10)
    add_executable(BB2A BB2A/main.cpp)  # Adjust the path as necessary
-    target_link_libraries(BB2A RoboidControl)
+# Specify the path to the main project directory
-endif()
+set(MAIN_PROJECT_DIR "${CMAKE_SOURCE_DIR}/..")
 # Set the project name
 project(Examples)
 include_directories(..)
 # Add the executable for the main project
 #add_executable(MainExecutable ${SOURCES})
 # Find the main project library (assuming it's defined in the root CMakeLists.txt)
 #find_package(RoboidControl REQUIRED)  # Replace MyLibrary with your actual library name
 # Add example executables
 add_executable(BB2B BB2B.cpp)
 target_link_libraries(
    BB2B
    RoboidControl
    LinearAlgebra
 )
--- a/examples/README.md
+++ b/examples/README.md
@ -1 +1 @@
-Important: this folder has to be named 'examples' exactly to maintain compatibility with Arduino
+Important: this folder has to be names 'examples' exactly to maintain compatibility with Arduino
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@ -1,30 +0,0 @@
 # Unit test configuration
 add_compile_definitions(GTEST)
 include(FetchContent)
 FetchContent_Declare(
    googletest
    DOWNLOAD_EXTRACT_TIMESTAMP ON
    URL https://github.com/google/googletest/archive/refs/heads/main.zip
 )
 # For Windows: Prevent overriding the parent project's compiler/linker settings
 set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
 FetchContent_MakeAvailable(googletest)
 file(GLOB_RECURSE test_srcs *.cc)
 message(STATUS "Test sources: ${test_srcs}")
 add_executable(
    RoboidControlTest
    ${test_srcs}
 )
 message(STATUS "RoboidControlTest target created")
 target_link_libraries(
    RoboidControlTest
    gtest_main
    RoboidControl
    LinearAlgebra
 )
 include(GoogleTest)
 gtest_discover_tests(RoboidControlTest)
--- a/test/participant_test.cc
+++ b/test/participant_test.cc
@ -5,7 +5,6 @@
 #include <gtest/gtest.h>
 #include "Participants/SiteServer.h"
 #include "Participants/ParticipantMQTT.h"
 #include "Thing.h"
 #include <chrono>
@ -76,18 +75,4 @@ TEST(Participant, ThingMsg) {
  SUCCEED();
 }
 TEST(Participant, MQTT) {
  MQTTParticipant* participant = new MQTTParticipant("192.168.77.11");
  unsigned long milliseconds = Thing::GetTimeMs();
  unsigned long startTime = milliseconds;
  while (milliseconds < startTime + 10000) {
    participant->Update();
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    milliseconds = Thing::GetTimeMs();
  }
  SUCCEED();
 }
 #endif
--- a/test/thing_test.cc
+++ b/test/thing_test.cc
@ -15,7 +15,7 @@ TEST(RoboidControlSuite, HiddenParticipant) {
  unsigned long milliseconds = Thing::GetTimeMs();
  unsigned long startTime = milliseconds;
  while (milliseconds < startTime + 1000) {
-    thing->Update();
+    Thing::UpdateThings();
    milliseconds = Thing::GetTimeMs();
  }
@ -23,7 +23,7 @@ TEST(RoboidControlSuite, HiddenParticipant) {
 }
 TEST(RoboidControlSuite, IsolatedParticipant) {
-  ParticipantUDP* participant = new ParticipantUDP(0);
+  ParticipantUDP* participant = ParticipantUDP::Isolated();
  Thing* thing = new Thing();
  unsigned long milliseconds = Thing::GetTimeMs();
		`@ -1 +1 @@`
			`Important: this folder has to be named 'examples' exactly to maintain compatibility with Arduino`				`Important: this folder has to be names 'examples' exactly to maintain compatibility with Arduino`