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

72f1472 Fix missing <chrono> include
54634f0 Backporting some style changes from Python
fea15c3 removed namespace Passer
753de2d Fixes
9674f68 Disabled test failing on MacOS
5b89234 Made it work on MacOS
d0ba29e Updated LinearAlgebra
ebfb4fb Merge commit '0b63a044eb84175cc922f3f1fe0ce039d101bf7b'
0b63a04 Updated documentation, cleanup
a0082bd Add direction documentation
770ce32 Merge commit '2b5f5cd175b20fa01e04b696dfe0cfbe2c4ad9da'
2b5f5cd Removed shorthand Deg/Rad aliases... (see below)
d212db2 Trying to fix specialization before instantiation error
e445e5b Trying to fix specialization before instantiation error
f47e504 Trying to fix specialization before instantiation error
b877d4d Trying to fix specialization before instantiation error
06e8623 Trying to fix specialization before instantiation error
e97aee9 Trying to fix specialization before instantiation error
0e00e5d Merge branch 'main' of http://gitlab.passervr.com/passer/cpp/linear-algebra
52de55d Trying to fix specialization before instantiation error
47ba024 Trying to fix specialization before instantiation error
2402030 Trying to fix specialization before instantiation error
4e3f253 Fixed gitignore
06c70e2 Merge branch 'Experimental'
6f30334 Updated PolarOf, removed default Polar type
94a3105 Cleanup
89a5711 Fixed typo in documentation
64b7f11 Removed default Angle type
58beb36 Completed AngleOf documentation
5f58a2c Updated documentation
97d937e Fixed (copilot) unit tests
585a3b0 Removed default Spherical type
d3226fd Added copilot test documentation
a7aa679 Added a performance test
2c57c3f Fixed direction for spherical
28ee225 Normalize Spherical at creation
800eb75 improved rounding of discrete angles
536d6ce Add Binary support
18756ba Correct axis on quaternion from swingtwist
06e42c5 Normalized swing twist
edbb4b1 Removes Angle::deg90/180 because of issues
0a07b23 SwingTwist == and Angle
9406b57 SwingTwist::AngleAxis using Direction
06da9e5 Removed AngleAxis, Sperhical will be used instead
2e61e1b Fix unit test
54d0318 Extended unit tests (plus fixes)
8286c1c Minor improvements
95a6fb3 Improved Angle quality
9eca318 Fixed inverse
0ebfce4 Spherical direction
136e44e Fixed unit tests
fb5cee8 Proper angle implementation (unit tests still fail)
92d5ef0 Normalizing directions
1ea65d5 Made toQuestion const
f1c70c7 Fix unit tests
2ad6a5a Fix include
11259a9 Extend functionality
3363388 Extended AngleAxis & Direction
09e25a8 Add Asin and Atan
a646e93 Add ACos
407e771 Add WithDistance
69bad8f Added degrees, radians, cos, sin, and tan functions
5c3dfa6 Adde degrees/readians and poc ACos
05c61a3 Add distance between
6a1d043 Added Angle comparison
6b3bcfc Another anglebetween fix
b5a6330 Fix anglebetween
b975aed Added angle and rotate functions
f483439 Moved Polar/Spherical to template class completely
e0ef43a Merge branch 'Experimental' of http://gitlab.passervr.com/passer/cpp/linear-algebra into Experimental
b460bec Added scaling to SphericalOf<T>
e10e010 Added Direction to library sources
dedaa31 Fix unit tests
1da93ca Fix ToVector3
9c3503f Added SphericalOf
353cb1b Add conversion from Quaternion
cf86ba8 Cleanup template classes
ea6894e Fix generic template functions
1ce7234 Bug fixes
38ebb34 Added Direction to replace Axis
c72bba4 Change Vector3::Angle return type to AngleOf<float>
18cf653 Added scaling support
51772a1 Added add/subtract for discrete angles
49c6740 Make Angle -> float conversion explicit
608c45c Fix precision error
4591aef Added Spherical16
48828e2 Fix int/float issues
86b7c21 Added Degrees inline function
a4b0491 Fix unit tests
b81b77b Extend AngleOf support
c70c079 Add spherical subtract
2bad384 Added spherical addition
a25a8be Fixed namespace issues
f8009a7 Updated namespace
91c7b20 Fix gitlab test runner
78468e3 Renamed VectorAlgebra project to LinearAlgebra
47a6368 Fix Vector3
ee62cba XYZ deprecation
62d7439 Extend ulitity functions
95713c8 Cleanup, added utility functions
f7d9d97 Cleanup
66e47d7 Cleanup Vector2 and Polar
e922a01 fix == operator
5693097 Initial subtractop test
c411b43 Textual improvement
0c54276 equality support
b1e34b6 Improved unit tests
6ddb074 Improved unit tests
5489b3c Fix test
3d971c1 Improve namespace
791bd78 namespace improvement
9bea94f Use Angle type for Polar
8a2ce21 Swapped polar constructor param order
e5f8d73 namespace fix
8e7a8c6 Fix namespaces
64ca768 normalize toAngleAxis result
4385bef Add angle-axis
4b07328 Add conversion from Vector3
fe12c99 Fix Spherical reference
c274c3e Add conversion from Spherical
66ff721 Fixed wrong conversion to short
264bcbc Added 32 bit angle
f190dd7 Merge branch 'DiscreteAngle' into Experimental
ae55a24 Further  vector3 conversion fixes
ec0cc47 Fix spherical to vector
89b5da8 Fix ambiguity
e62fa96 Fix specialization again
430344a Fix specialization error
3e5ede0 Removed old file
e62bacc First Discrete Angle functions
87d2c11 Set strict warnings
5141766 Add spherical.toVector3 test (and fixes)
8e3b9e2 Fix Polar test
7b85556 Addedfirst Polar test
395f82d Fix Spherical Unit test
0cbef79 Add first Spherical Unit test
dc601a1 Removed Vector2.tofactor
159bdae Added spherical.tovector (but is is buggy)
273ebae Fixes
0468031 Bug fix
3714507 Implemented templated angles
69e7ee1 Added DiscreteAgle
2cbf259 Make negation virtual override
2b50bab Add negation for DiscreteAngle
de3a647 Updated negation
254bb27 Added negation
bd04285 Make superclass accessable
2bb0009 Initial implementation

git-subtree-dir: LinearAlgebra
git-subtree-split: 72f1472f2e1d2c9a1fe002460e47606b9aeed548

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

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

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);
-}

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

Arduino/Things/DRV8833.cpp

@@ -7,9 +7,7 @@ namespace Arduino {
 
 #pragma region DRV8833
 
-DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
-  this->type = Type::Undetermined;
-  this->name = "DRV8833";
+DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(Type::Undetermined, parent) {
   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) {
-  this->drv8833 = new DRV8833(config, this);
-  this->leftWheel = this->drv8833->motorA;
-  this->rightWheel = this->drv8833->motorB;
-}
+    : RoboidControl::DifferentialDrive(this->drv8833.motorA,
+                                       this->drv8833.motorB,
+                                       parent),
+      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;

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

Arduino/Things/DigitalInput.cpp

@@ -7,9 +7,8 @@ namespace Arduino {
 
 #pragma region Digital input
 
-DigitalInput::DigitalInput(unsigned char pin, Thing* parent) : Thing(parent) {
-  this->type = Type::Switch;
-  this->name = "Digital Input";
+DigitalInput::DigitalInput(unsigned char pin, Thing* parent)
+    : Thing(Type::Undetermined, parent) {
   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
-  //           << " timestep " << timeStep << std::endl;
+  std::cout << "pulses: " << pulseCount << " per second " << pulseFrequency
+            << " timestep " << timeStep << std::endl;
 
   this->lastUpdateTime = currentTimeMs;
 }

Arduino/Things/UltrasonicSensor.cpp

@@ -7,8 +7,7 @@ namespace RoboidControl {
 namespace Arduino {
 
 UltrasonicSensor::UltrasonicSensor(Configuration config, Thing* parent)
-    : Thing(parent) {
-  this->type = Type::DistanceSensor;
+    : Thing(Type::Undetermined, parent) {
   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);
 }
 
-#pragma endregion Touch sensor
+#pragma region Touch sensor
 
 }  // namespace Arduino
 }  // namespace RoboidControl

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

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}
-    )
-
-    project(RoboidControl)
-    add_subdirectory(LinearAlgebra)
-
-    # Examples
-    option(BUILD_EXAMPLE_BB2A "Build BB2A Example" OFF)
-    add_subdirectory(examples)
     
     enable_testing()
-    add_subdirectory(test)
 
+    file(GLOB_RECURSE test_srcs test/*_test.cc)
+    add_executable(
+        RoboidControlTest
+        ${test_srcs}
+    )
+    target_link_libraries(
+        RoboidControlTest
+        gtest_main
+        RoboidControl
+        LinearAlgebra
+    )
+
+    include(GoogleTest)
+    gtest_discover_tests(RoboidControlTest)
 endif()
+

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

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);
-  if (this->sock < 0) {
+  this->sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+  if (this->sockfd < 0) {
     std::cout << "Unable to create UDP socket: errno " << errno << "\n";
     vTaskDelete(NULL);
     return;
   }
 
-  /*
-  // Set up the receiving(local) address
+  // Set up the server address structure
   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
-  if (bind(this->sock, (struct sockaddr*)&local_addr, sizeof(local_addr)) < 0) {
+  // Bind the socket to the address and port
+  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,
-  //           &this->dest_addr.sin_addr.s_addr);
+  inet_pton(AF_INET, this->remoteSite->ipAddress,
+            &this->dest_addr.sin_addr.s_addr);
 
-    this->connected = true;
-
-  std::cout << "Wifi sync started local " << localPort << ", remote "
+  std::cout << "Wifi sync started local " << this->port << ", remote "
             << this->remoteSite->ipAddress << ":" << this->remoteSite->port
             << "\n";
-
-  // 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();
+#endif  // IDF_VER
 }
 
 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) {}
-
-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) {
+bool ParticipantUDP::Send(Participant* 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];
-  inet_ntop(AF_INET, &dest_addr.sin_addr, ip_str, sizeof(ip_str));
-  std::cout << "Sending " << bufferSize << " bytes to " << ip_str << ":" << port << "\n";
-
-  // 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)
+  int err = sendto(this->sockfd, buffer, bufferSize, 0,
+                   (struct sockaddr*)&dest_addr, sizeof(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

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

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

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);
 

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)

Messages/TextMsg.h

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

Messages/ThingMsg.h

@@ -1,5 +1,3 @@
-#pragma once
-
 #include "IMessage.h"
 #include "Thing.h"
 

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);
-  //this->Add(this->root);
+  std::cout << "P\n";
+  //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);
-  //this->Add(this->root);
+  // Add the root thing to the list of things, because we could not do that
+  // 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) {
-    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) {
+Thing* Participant::Get(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
-            << "[" << (int)thingId << "]\n";
+  // std::cout << "Could not find thing " << this->ipAddress << ":" <<
+  // 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 " 
-    //<< this->ipAddress << ":" << this->port
-    << "[" << (int)thing->id << "]\n";
+    // std::cout << "Add thing with generated ID " << this->ipAddress << ":"
+    //           << this->port << "[" << (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 <<
-      "["
-                << (int)thing->id << "]\n";
+      // std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
+      // "["
+      //           << (int)thing->id << "]\n";
     } else {
-      std::cout << "Did not add, existing thing " 
-      //<< this->ipAddress << ":" << this->port
-       << "[" << (int)thing->id << "]\n";
+      // std::cout << "Did not add, existing thing " << this->ipAddress << ":"
+      //           << this->port << "[" << (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,
-//                                       unsigned int port) {
-// #if !defined(NO_STD)
-//   for (Participant* 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;
-// }
-// */
-// 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::Get(const char* ipAddress,
+                                      unsigned int port) {
+#if !defined(NO_STD)
+  for (Participant* 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;
+}
 
-// // Participant* ParticipantRegistry::Add(const char* ipAddress,
-// //                                       unsigned int port) {
-// //   Participant* participant = new Participant(ipAddress, port);
-// //   Add(participant);
-// //   return participant;
-// // }
+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;
+}
 
-// void ParticipantRegistry::Add(Participant* participant) {
-//   Participant* foundParticipant =
-//     Get(participant->networkId);
-//       //Get(participant->ipAddress, participant->port);
+Participant* ParticipantRegistry::Add(const char* ipAddress,
+                                      unsigned int port) {
+  Participant* participant = new Participant(ipAddress, port);
+  Add(participant);
+  return participant;
+}
 
-//   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::Add(Participant* participant) {
+  Participant* foundParticipant =
+      Get(participant->ipAddress, participant->port);
 
-// void ParticipantRegistry::Remove(Participant* participant) {
-//   // participants.remove(participant);
-// }
+  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";
+  }
+}
 
-// #if defined(NO_STD)
-// Participant** ParticipantRegistry::GetAll() const {
-//   return ParticipantRegistry::participants;
-// }
-// #else
-// const std::list<Participant*>& ParticipantRegistry::GetAll() const {
-//   return ParticipantRegistry::participants;
-// }
-// #endif
+void ParticipantRegistry::Remove(Participant* participant) {
+  // participants.remove(participant);
+}
 
-// #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

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
-  Thing* root = nullptr;
+  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
+  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);
-
-#pragma endregion Update
-
-#pragma region Send
+  /// @param currentTimeMs The current time in milliseconds (optional)
+  virtual void Update();
 
  public:
-  char buffer[1024];
-
-  virtual bool Send(IMessage* msg);
-
-#pragma endregion Send
-
-// #pragma region Participant Registry
-
-//  public:
-//   static ParticipantRegistry registry;
-
-// #pragma endregion Participant Registry
+  static ParticipantRegistry registry;
 };
 
 }  // namespace RoboidControl

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
-  */

Participants/IsolatedParticipant.h

@@ -1,4 +1,3 @@
-/*
 #include "Participant.h"
 
 namespace RoboidControl {
@@ -12,4 +11,3 @@ class IsolatedParticipant {
 };
 
 }
-*/

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

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"

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)
-    : RemoteParticipantUDP("127.0.0.1", port) {
+ParticipantUDP::ParticipantUDP(int port) : Participant("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,
-                                             int port,
-                                             int localPort)
-    : RemoteParticipantUDP("127.0.0.1", localPort) {
+ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
+    : Participant("127.0.0.1", localPort) {
   this->name = "ParticipantUDP";
   if (this->port == 0)
     this->isIsolated = true;
   else
-    this->remoteSite = new RemoteParticipantUDP(ipAddress, port);
-  registry.Add(this);
+    this->remoteSite = new Participant(ipAddress, port);
+  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;
 
+    // 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) {
   // 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);
-  remoteParticipant->Send(binaryMsg);
-  delete binaryMsg;
+  BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
+  this->Send(remoteParticipant, customMsg);
+  delete customMsg;
 }
 
-bool ParticipantUDPGeneric::Send(IMessage* msg) {
-  if (this->remoteSite != nullptr)
-    return this->remoteSite->Send(msg);
-
+bool ParticipantUDP::Send(Participant* remoteParticipant, 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 " << 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() {
+#if defined(_WIN32) || defined(_WIN64)
+  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 =
-      this->registry.Get(senderIpAddress, senderPort);
+  Participant* sender = 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 << ":"
-    //           << sender->port << std::endl;
+    std::cout << "New remote participant " << sender->ipAddress << ":"
+              << sender->port << std::endl;
 #endif
   }
 
   ReceiveData(packetSize, sender);
 }
 
-void ParticipantUDPGeneric::ReceiveData(unsigned char bufferSize,
-                                        RemoteParticipantUDP* sender) {
+void ParticipantUDP::ReceiveData(unsigned char bufferSize,
+                                 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,
-                                    ParticipantMsg* msg) {
+void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
 #if defined(DEBUG)
   std::cout << this->name << ": Process ParticipantMsg " << (int)msg->networkId
             << "\n";
 #endif
 }
 
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
-                                    NetworkIdMsg* msg) {
+void ParticipantUDP::Process(Participant* sender, 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,
-                                    InvestigateMsg* msg) {
+void ParticipantUDP::Process(Participant* sender, InvestigateMsg* msg) {
 #if defined(DEBUG)
   std::cout << this->name << ": Process InvestigateMsg [" << (int)msg->networkId
             << "/" << (int)msg->thingId << "]\n";
 #endif
 }
 
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
-                                    ThingMsg* msg) {
+void ParticipantUDP::Process(Participant* sender, 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,
-                                              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) {
+void ParticipantUDP::Process(Participant* 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,
-                                    ModelUrlMsg* msg) {
+void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
 #if defined(DEBUG)
   std::cout << this->name << ": process ModelUrlMsg [" << (int)msg->networkId
             << "/" << (int)msg->thingId << "]\n";
 #endif
 }
 
-void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
-                                    PoseMsg* msg) {
+void ParticipantUDP::Process(Participant* sender, 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,
-                                    BinaryMsg* msg) {
+void ParticipantUDP::Process(Participant* sender, 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
 

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,
-                        int port = 7681,
-                        int localPort = 7681);
+  ParticipantUDP(const char* ipAddress, 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;
-  virtual bool Publish(IMessage* msg) = 0;
+  bool Send(Participant* remoteParticipant, IMessage* msg);
+  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(RemoteParticipantUDP* sender, NetworkIdMsg* msg);
-  virtual void Process(RemoteParticipantUDP* sender, InvestigateMsg* msg);
-
-  virtual void Process(RemoteParticipantUDP* sender, ThingMsg* msg);
-  virtual Thing* ProcessNewThing(RemoteParticipantUDP* sender,
-                                 ThingMsg* msg,
-                                 bool isRemote);
-
-  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);
+  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);
 
 #pragma endregion Receive
 
-public:
-  static ParticipantRegistry registry;
-
 };
 
 }  // namespace RoboidControl
-
-#include "EspIdf/EspIdfParticipant.h"
-#include "Posix/PosixParticipant.h"

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) {
-  Thing* thing = sender->Get(msg->networkId, msg->thingId);
-  if (thing == nullptr) {
+void SiteServer::Process(Participant* sender, ThingMsg* msg) {
+  Thing* thing = sender->Get(msg->thingId);
+  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)

Participants/SiteServer.h

@@ -2,11 +2,11 @@
 
 #include "ParticipantUDP.h"
 
-// #if !defined(NO_STD)
-// #include <functional>
-// #include <memory>
-// #include <unordered_map>
-// #endif
+#if !defined(NO_STD)
+#include <functional>
+#include <memory>
+#include <unordered_map>
+#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(RemoteParticipantUDP* sender, NetworkIdMsg* msg) override;
-  virtual void Process(RemoteParticipantUDP* sender, ThingMsg* msg) override;
+  virtual void Process(Participant* sender, ParticipantMsg* msg) override;
+  virtual void Process(Participant* sender, NetworkIdMsg* msg) override;
+  virtual void Process(Participant* sender, ThingMsg* msg) override;
 
 #pragma endregion Receive
 

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

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

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) {}
-
-ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
-    : ParticipantUDPGeneric(ipAddress, port, localPort) {}
-
-void ParticipantUDP::SetupUDP(int localPort,
-                              const char* remoteIpAddress,
-                              int remotePort) {
+void ParticipantUDP::Setup(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,
-           sizeof(server_addr)) < 0) {
+  if (bind(this->sock, (const struct sockaddr*)&server_addr, 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) {
-#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() {
+void ParticipantUDP::Receive() {
 #if defined(__unix__) || defined(__APPLE__)
   sockaddr_in client_addr;
   socklen_t len = sizeof(client_addr);
-  int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0,
-                            (struct sockaddr*)&client_addr, &len);
+  int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0, (struct sockaddr*)&client_addr, &len);
   if (packetSize > 0) {
     char sender_ipAddress[INET_ADDRSTRLEN];
-    inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress,
-              INET_ADDRSTRLEN);
+    inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress, INET_ADDRSTRLEN);
     unsigned int sender_port = ntohs(client_addr.sin_port);
 
     ReceiveData(packetSize, sender_ipAddress, sender_port);
-    // RoboidControl::Participant* remoteParticipant =
-    // this->Get(sender_ipAddress, sender_port); if (remoteParticipant ==
-    // nullptr) {
+    // RoboidControl::Participant* remoteParticipant = this->Get(sender_ipAddress, sender_port);
+    // if (remoteParticipant == nullptr) {
     //   remoteParticipant = this->Add(sender_ipAddress, sender_port);
     //   // std::cout << "New sender " << sender_ipAddress << ":" << sender_port
     //   //           << "\n";
-    //   // std::cout << "New remote participant " <<
-    //   remoteParticipant->ipAddress
+    //   // std::cout << "New remote participant " << remoteParticipant->ipAddress
     //   //           << ":" << remoteParticipant->port << " "
     //   //           << (int)remoteParticipant->networkId << "\n";
     // }
@@ -128,35 +90,9 @@ void ParticipantUDP::ReceiveUDP() {
 #endif
 }
 
-// int ParticipantUDP::ReceiveTCP() {
-// #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) {
+bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(__unix__) || defined(__APPLE__)
-  // std::cout << "Send to " << remoteParticipant->ipAddress << ":" <<
-  // ntohs(remoteParticipant->port)
+  // std::cout << "Send to " << remoteParticipant->ipAddress << ":" << ntohs(remoteParticipant->port)
   //           << "\n";
 
             // Set up the destination address
@@ -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,
-                          (struct sockaddr*)&dest_addr, sizeof(dest_addr));
+  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0, (struct sockaddr*)&dest_addr, sizeof(dest_addr));
   if (sent_bytes < 0) {
-    std::cerr << "sendto failed with error: " << sent_bytes << "  "
-              << strerror(errno) << std::endl;
+    std::cerr << "sendto failed with error: " << sent_bytes << "  " << 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)
-            << "\n";
-  int sent_bytes =
-      sendto(sock, this->buffer, bufferSize, 0,
-             (struct sockaddr*)&broadcast_addr, sizeof(broadcast_addr));
+  std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port) << "\n";
+  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

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
-  /// @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 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;
+  void Setup(int localPort, const char* remoteIpAddress, int remotePort);
+  void Receive();
+  bool Send(Participant* remoteParticipant, int bufferSize);
+  bool Publish(IMessage* msg);
 
  protected:
 #if defined(__unix__) || defined(__APPLE__)
@@ -40,5 +20,5 @@ class ParticipantUDP : public ParticipantUDPGeneric {
 #endif
 };
 
+}  // namespace Posix
 }  // namespace RoboidControl
-#endif

README.md

@@ -15,59 +15,3 @@ Supporting:
 
 - RoboidControl::Thing
 - 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.

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

Thing.cpp

@@ -28,8 +28,7 @@ Thing* Thing::LocalRoot() {
 
 // Only use this for root things
 Thing::Thing(Participant* owner) {
-  this->type = Type::Root;
-  this->name = "Root";
+  this->type = Type::Roboid;  // should become 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) {
-  owner->root = new Thing(owner);
-}
-
-Thing::Thing(Thing* parent) {
-  this->type = Type::Undetermined;
+Thing::Thing(unsigned char thingType, Thing* parent) {
+  this->type = thingType;
 
   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->angularVelocityUpdated = false;
+  // this->linearVelocityUpdated = 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) {

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 {
-    static const unsigned char Undetermined = 0x00;
-    // Sensor
-    static const unsigned char Switch = 0x01;
-    static const unsigned char DistanceSensor = 0x02;
-    static const unsigned char DirectionalSensor = 0x03;
-    static const unsigned char TemperatureSensor = 0x04;
-    static const unsigned char TouchSensor = 0x05;
-    // Motor
-    static const unsigned char ControlledMotor = 0x06;
-    static const unsigned char UncontrolledMotor = 0x07;
-    static const unsigned char Servo = 0x08;
-    static const unsigned char RelativeEncoder = 0x19;
+  enum Type : unsigned char {
+    Undetermined,
+    // Sensor,
+    Switch,
+    DistanceSensor,
+    DirectionalSensor,
+    TemperatureSensor,
+    TouchSensor,
+    // Motor,
+    ControlledMotor,
+    UncontrolledMotor,
+    Servo,
+    IncrementalEncoder,
     // Other
-    static const unsigned char Root = 0x10;
-    static const unsigned char Roboid = 0x09;
-    static const unsigned char Humanoid = 0x0A;
-    static const unsigned char ExternalSensor = 0x08;
-    static const unsigned char Animator = 0x0C;
-    static const unsigned char DifferentialDrive = 0x0D;
+    Roboid,
+    Humanoid,
+    ExternalSensor,
+    DifferentialDrive
   };
 
 #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.
-  Thing(Thing* parent = LocalRoot());
+  /// without a parent will be a root thing.
+  Thing(unsigned char thingType = Thing::Type::Undetermined,
+        Thing* parent = LocalRoot());
 
- private:
-  /// @brief Constructor to create a root thing
-  /// @param owner The participant who will own this root thing
-  /// @remarks This function is private because CreateRoot() should be used
-  /// instead
-  Thing(Participant* owener);
+  /// @brief Create a new child thing
+  /// @param parent The parent thing
+  /// @param thingType The type of thing (can use Thing::Type)
+  /// @param thingId The ID of the thing, leave out or set to zero to generate
+  /// an ID
+  /// @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
-  /// @param owner The participant who will own this root thing
-  static void CreateRoot(Participant* owner);
-
-  /// @brief The root thing for the local participant
-  /// @return The root thing for the local participant
-  static Thing* LocalRoot();
+  static Thing Reconstruct(Participant* owner,
+                           unsigned char thingType,
+                           unsigned char thingId);
 
 #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();

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 "
-  //           << this->actualVelocity << " output = " << output << std::endl;
+  std::cout << "target " << this->targetVelocity << " actual "
+            << 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;

Things/DifferentialDrive.cpp

@@ -4,8 +4,8 @@
 
 namespace RoboidControl {
 
-DifferentialDrive::DifferentialDrive(Thing* parent) : Thing(parent) {
-  this->type = Type::DifferentialDrive;
+DifferentialDrive::DifferentialDrive(Thing* parent)
+    : 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) {
-  this->type = Type::DifferentialDrive;
+    : Thing(Type::DifferentialDrive, parent) {
   this->name = "Differential drive";
   this->leftWheel = leftMotor;
   this->rightWheel = rightMotor;

Things/DigitalSensor.cpp

@@ -2,9 +2,18 @@
 
 namespace RoboidControl {
 
-DigitalSensor::DigitalSensor(Thing* parent) : Thing(parent) {
-  this->type = Type::Switch;
-}
+//DigitalSensor::DigitalSensor() : Thing(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;

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

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

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) {
-  this->type = Type::UncontrolledMotor;
-}
+Motor::Motor(Thing* parent) : Thing(Type::UncontrolledMotor, parent) {}
 
 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) {

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;
 };
 

Things/RelativeEncoder.cpp

@@ -2,9 +2,8 @@
 
 namespace RoboidControl {
 
-RelativeEncoder::RelativeEncoder(Thing* parent) : Thing(parent) {
-  this->type = Type::RelativeEncoder;
-}
+RelativeEncoder::RelativeEncoder(Thing* parent)
+    : Thing(Type::IncrementalEncoder, parent) {}
 
 float RelativeEncoder::GetRotationSpeed() {
   return rotationSpeed;

Things/TemperatureSensor.cpp

@@ -4,9 +4,15 @@
 
 namespace RoboidControl {
 
-TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(parent) {
-  this->type = Type::TemperatureSensor;
-}
+// TemperatureSensor::TemperatureSensor(Participant* participant,
+//                                      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;

Things/TouchSensor.cpp

@@ -2,26 +2,20 @@
 
 namespace RoboidControl {
 
-TouchSensor::TouchSensor(Thing* parent) : Thing(parent) {
-  this->type = Type::TouchSensor;
+TouchSensor::TouchSensor(Thing* parent) : Thing(Type::TouchSensor, parent) {
   this->name = "Touch sensor";
 }
 
-bool TouchSensor::IsTouching() {
-  return this->internalTouch || this->externalTouch;
+void TouchSensor::PrepareForUpdate() {
+  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->internalTouch ? 1 : 0;
+  bytes[(*ix)++] = this->touchedSomething ? 1 : 0;
   return 1;
 }
 

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

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()
-              << std::endl;
-    WSACleanup();
+
+  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
   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;
-  }
+  ioctlsocket(this->sock, FIONBIO, &mode);
 
   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);
@@ -68,8 +55,7 @@ void ParticipantUDP::Setup(int localPort,
   }
 
   // Bind the socket to the specified port
-  if (bind(this->sock, (const struct sockaddr*)&server_addr,
-           sizeof(server_addr)) < 0) {
+  if (bind(this->sock, (const struct sockaddr*)&server_addr, sizeof(server_addr)) < 0) {
     std::cerr << "Bind failed" << std::endl;
     closesocket(sock);
     WSACleanup();
@@ -78,56 +64,6 @@ void ParticipantUDP::Setup(int localPort,
 #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() {
 #if defined(_WIN32) || defined(_WIN64)
   // char ip_str[INET_ADDRSTRLEN];
@@ -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,
-                            (struct sockaddr*)&client_addr, &len);
+  int packetSize = recvfrom(this->sock, buffer, sizeof(buffer), 0, (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_ADDRSTRLEN);
+    inet_ntop(AF_INET, &(client_addr.sin_addr), sender_ipAddress, INET_ADDRSTRLEN);
     unsigned int sender_port = ntohs(client_addr.sin_port);
 
     ReceiveData(packetSize, sender_ipAddress, sender_port);
-    // RoboidControl::ParticipantUDP* remoteParticipant =
-    // this->Get(sender_ipAddress, sender_port); if (remoteParticipant ==
-    // nullptr) {
+    // RoboidControl::ParticipantUDP* remoteParticipant = this->Get(sender_ipAddress, sender_port);
+    // if (remoteParticipant == nullptr) {
     //   remoteParticipant = this->Add(sender_ipAddress, sender_port);
     //   // std::cout << "New sender " << sender_ipAddress << ":"
     //   //           << sender_port << "\n";
@@ -169,40 +102,12 @@ void ParticipantUDP::Receive() {
 #endif // _WIN32 || _WIN64
 }
 
-int ParticipantUDP::ReceiveTCP() {
-#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) {
+bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
 #if defined(_WIN32) || defined(_WIN64)
   char ip_str[INET_ADDRSTRLEN];
   inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
-  std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port)
-            << "\n";
-  int sent_bytes = sendto(sock, this->buffer, bufferSize, 0,
-                          (struct sockaddr*)&remote_addr, sizeof(remote_addr));
+  std::cout << "Send to " << ip_str << ":" << ntohs(remote_addr.sin_port) << "\n";
+  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
@@ -215,13 +120,6 @@ bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant, int bufferS
   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)
-            << "\n";
-  int sent_bytes =
-      sendto(sock, this->buffer, bufferSize, 0,
-             (struct sockaddr*)&broadcast_addr, sizeof(broadcast_addr));
+  std::cout << "Publish to " << ip_str << ":" << ntohs(broadcast_addr.sin_port) << "\n";
+  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
@@ -247,6 +142,5 @@ bool ParticipantUDP::Publish(IMessage* msg) {
   return true;
 }
 
+}  // namespace Windows
 }  // namespace RoboidControl
-
-#endif

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);
-  bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
-  bool SendTCP(int bufferSize);
+  void Receive();
+  bool Send(Participant* remoteParticipant, 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

examples/BB2B.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
   }
 

examples/CMakeLists.txt

@@ -1,8 +1,25 @@
 # examples/CMakeLists.txt
 
-# Check if the options are enabled and add the corresponding examples
-if(BUILD_EXAMPLE_BB2A)
-    add_executable(BB2A BB2A/main.cpp)  # Adjust the path as necessary
+# Specify the minimum CMake version
+cmake_minimum_required(VERSION 3.10)
 
-    target_link_libraries(BB2A RoboidControl)
-endif()
+# Specify the path to the main project directory
+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
+)

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

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)

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

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();