Merge branch 'main' into Braccio

EspIdf/EspIdfParticipant.cpp

@@ -1,15 +1,17 @@
 #include "EspIdfParticipant.h"
 
+#if defined(IDF_VER)
 #include "esp_wifi.h"
+#endif
 
 namespace RoboidControl {
 namespace EspIdf {
 
 void ParticipantUDP::Setup(int localPort,
-                             const char* remoteIpAddress,
+                           const char* remoteIpAddress,
-                             int remotePort) {
+                           int remotePort) {
 #if defined(IDF_VER)
-std::cout << "Set up UDP\n";
+  std::cout << "Set up UDP\n";
   GetBroadcastAddress();
 
   wifi_ap_record_t ap_info;
@@ -35,9 +37,9 @@ std::cout << "Set up UDP\n";
   local_addr.sin_addr.s_addr =
       htonl(INADDR_ANY);  // Listen on all available network interfaces
 
-      
   // Bind the socket to the address and port
-  if (bind(this->sockfd, (struct sockaddr*)&local_addr, sizeof(local_addr)) < 0) {
+  if (bind(this->sockfd, (struct sockaddr*)&local_addr, sizeof(local_addr)) <
+      0) {
     std::cout << "Unable to bind UDP socket: errno " << errno << "\n";
     close(sockfd);
     vTaskDelete(NULL);
@@ -45,19 +47,21 @@ std::cout << "Set up UDP\n";
   }
 
   // Initialize the dest_addr structure
-  memset(&this->dest_addr, 0, sizeof(this->dest_addr));  // Clear the entire 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);
-  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);
 
   std::cout << "Wifi sync started local " << this->port << ", remote "
             << this->remoteSite->ipAddress << ":" << this->remoteSite->port
             << "\n";
-#endif // IDF_VER
+#endif  // IDF_VER
 }
 
 void ParticipantUDP::GetBroadcastAddress() {
+#if defined(IDF_VER)
   // SOMEHOW, THIS FUNCTION RESULTS IN MEMORY CORRUPION...
 
   esp_netif_ip_info_t ip_info;
@@ -76,6 +80,7 @@ void ParticipantUDP::GetBroadcastAddress() {
   snprintf(this->broadcastIpAddress, INET_ADDRSTRLEN, IPSTR,
            IP2STR(&broadcast_addr.u_addr.ip4));
   std::cout << "Broadcast address: " << this->broadcastIpAddress << "\n";
+#endif  // IDF_VER
 }
 
 void ParticipantUDP::Receive() {
@@ -91,7 +96,7 @@ void ParticipantUDP::Receive() {
     return;
   }
 
-  //char buffer[1024];
+  // char buffer[1024];
   struct sockaddr_in source_addr;
 
   socklen_t addr_len = sizeof(source_addr);
@@ -107,7 +112,8 @@ void ParticipantUDP::Receive() {
       break;
     }
 
-    // std::cout << "receiving " << packetSize << " bytes, msgId " << (int)this->buffer[0] << "\n";
+    // std::cout << "receiving " << packetSize << " bytes, msgId " <<
+    // (int)this->buffer[0] << "\n";
     inet_ntoa_r(source_addr.sin_addr, sender_ipAddress, INET_ADDRSTRLEN);
     unsigned int sender_port = ntohs(source_addr.sin_port);
 
@@ -119,9 +125,9 @@ void ParticipantUDP::Receive() {
       return;
     }
   }
-  //std::cout << "no more messages\n";
+  // std::cout << "no more messages\n";
 
-#endif // IDF_VER
+#endif  // IDF_VER
 }
 
 bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
@@ -129,8 +135,8 @@ bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
   std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
             << remoteParticipant->port << "\n";
 
-  int err = sendto(this->sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
+  int err = sendto(this->sockfd, buffer, bufferSize, 0,
-               sizeof(dest_addr));
+                   (struct sockaddr*)&dest_addr, sizeof(dest_addr));
   if (errno != 0)
     std::cout << "Send error " << err << " or " << errno << "\n";
 

EspIdf/EspIdfParticipant.h

@@ -2,7 +2,9 @@
 
 #include "Participants/ParticipantUDP.h"
 
+#if defined(IDF_VER)
 #include "lwip/sockets.h"
+#endif
 
 namespace RoboidControl {
 namespace EspIdf {
@@ -15,12 +17,13 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
   bool Publish(IMessage* msg);
 
  protected:
-  char broadcastIpAddress[INET_ADDRSTRLEN];  // IPv4 address can have a max of 15 characters
+#if defined(IDF_VER)
-                                // + null  terminator
+  char broadcastIpAddress[INET_ADDRSTRLEN];
 
   int sockfd;
   struct sockaddr_in dest_addr;
-  //struct sockaddr_in src_addr;
+  // struct sockaddr_in src_addr;
+#endif
 
   void GetBroadcastAddress();
 };