Cleanup, but still crashes after about 20-30 secs.

Arduino/ArduinoParticipant.cpp

@@ -1,4 +1,5 @@
 #include "ArduinoParticipant.h"
+#if defined(ARDUINO)
 
 #if !defined(NO_STD)
 #include <iostream>
@@ -21,7 +22,6 @@
 #endif
 
 namespace RoboidControl {
-namespace Arduino {
 
 #if defined(ARDUINO) && defined(HAS_WIFI)
 WiFiUDP* udp;
@@ -88,7 +88,7 @@ void ParticipantUDP::Receive() {
 #endif
 }
 
-bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
+bool ParticipantUDP::SendTo(RemoteParticipantUDP* 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 RoboidControl::ParticipantUDP {
+class ParticipantUDP : public ParticipantUDPGeneric {
  public:
   void Setup();
   void Receive();
-  bool Send(Participant* remoteParticipant, int bufferSize);
+  bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
   bool Publish(IMessage* msg);
 
  protected:
@@ -18,5 +18,5 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
   void GetBroadcastAddress();
 };
 
-}  // namespace Arduino
 }  // namespace RoboidControl
+#endif

Arduino/Examples/BB2A/BB2A.cpp

@@ -0,0 +1,95 @@
+#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

@@ -0,0 +1,52 @@
+#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

@@ -7,7 +7,9 @@ namespace Arduino {
 
 #pragma region DRV8833
 
-DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(Type::Undetermined, parent) {
+DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(parent) {
+  this->type = Type::Undetermined;
+  this->name = "DRV8833";
   this->pinStandby = config.standby;
   if (pinStandby != 255)
     pinMode(pinStandby, OUTPUT);
@@ -24,14 +26,15 @@ DRV8833::DRV8833(Configuration config, Thing* parent) : Thing(Type::Undetermined
 
 DRV8833::DifferentialDrive::DifferentialDrive(DRV8833::Configuration config,
                                               Thing* parent)
-    : RoboidControl::DifferentialDrive(this->drv8833.motorA,
-                                       this->drv8833.motorB,
-                                       parent),
-      drv8833(config, this) {}
+    : RoboidControl::DifferentialDrive(nullptr, nullptr, parent) {
+  this->drv8833 = new DRV8833(config, this);
+  this->leftWheel = this->drv8833->motorA;
+  this->rightWheel = this->drv8833->motorB;
+}
 
 void DRV8833::DifferentialDrive::Update(bool recurse) {
   RoboidControl::DifferentialDrive::Update(recurse);
-  this->drv8833.Update(false);
+  this->drv8833->Update(false);
 }
 
 #pragma endregion Differential drive
@@ -46,8 +49,7 @@ DRV8833Motor::DRV8833Motor(DRV8833* driver,
                            unsigned char pinIn1,
                            unsigned char pinIn2,
                            bool reverse)
-    : Motor() {
-  this->SetParent(driver);
+    : Motor(driver) {
 
   this->pinIn1 = pinIn1;
   this->pinIn2 = pinIn2;

Arduino/Things/DRV8833.h

@@ -19,6 +19,8 @@ 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
@@ -43,7 +45,7 @@ class DRV8833::DifferentialDrive : public RoboidControl::DifferentialDrive {
   virtual void Update(bool recurse = false) override;
 
  protected:
-  DRV8833 drv8833;
+  DRV8833* drv8833 = nullptr;
 };
 
 #pragma endregion Differential drive

Arduino/Things/DigitalInput.cpp

@@ -7,8 +7,9 @@ namespace Arduino {
 
 #pragma region Digital input
 
-DigitalInput::DigitalInput(unsigned char pin, Thing* parent)
-    : Thing(Type::Undetermined, parent) {
+DigitalInput::DigitalInput(unsigned char pin, Thing* parent) : Thing(parent) {
+  this->type = Type::Switch;
+  this->name = "Digital Input";
   this->pin = pin;
   pinMode(this->pin, INPUT);
   std::cout << "digital input start\n";
@@ -28,7 +29,7 @@ DigitalInput::TouchSensor::TouchSensor(unsigned char pin, Thing* parent)
     : RoboidControl::TouchSensor(parent), digitalInput(pin, parent) {}
 
 void DigitalInput::TouchSensor::Update(bool recursive) {
-  this->touchedSomething = digitalInput.isLow;
+  this->internalTouch = digitalInput.isLow;
 }
 
 #pragma endregion Touch sensor
@@ -97,8 +98,8 @@ 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

@@ -7,7 +7,8 @@ namespace RoboidControl {
 namespace Arduino {
 
 UltrasonicSensor::UltrasonicSensor(Configuration config, Thing* parent)
-    : Thing(Type::Undetermined, parent) {
+    : Thing(parent) {
+  this->type = Type::DistanceSensor;
   this->name = "Ultrasonic sensor";
   this->pinTrigger = config.trigger;
   this->pinEcho = config.echo;
@@ -56,6 +57,28 @@ 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)
@@ -64,11 +87,11 @@ UltrasonicSensor::TouchSensor::TouchSensor(Configuration config, Thing* parent)
 void UltrasonicSensor::TouchSensor::Update(bool recursive) {
   RoboidControl::TouchSensor::Update(recursive);
   this->ultrasonic.Update(false);
-  this->touchedSomething |= (this->ultrasonic.distance > 0 &&
-                            this->ultrasonic.distance <= this->touchDistance);
+  this->internalTouch = (this->ultrasonic.distance > 0 &&
+                         this->ultrasonic.distance <= this->touchDistance);
 }
 
-#pragma region Touch sensor
+#pragma endregion Touch sensor
 
 }  // namespace Arduino
 }  // namespace RoboidControl

Arduino/Things/UltrasonicSensor.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include "Things/DistanceSensor.h"
 #include "Things/TouchSensor.h"
 
 namespace RoboidControl {
@@ -39,9 +40,26 @@ 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 {
@@ -58,7 +76,7 @@ class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
   UltrasonicSensor ultrasonic;
 };
 
-#pragma region Touch sensor
+#pragma endregion Touch sensor
 
 }  // namespace Arduino
 }  // namespace RoboidControl

CMakeLists.txt

@@ -22,43 +22,24 @@ 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         =
+PROJECT_NUMBER         = 0.4
 
 # 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

@@ -4,13 +4,12 @@
 #include "esp_wifi.h"
 #endif
 
+#include <arpa/inet.h>
 namespace RoboidControl {
-namespace EspIdf {
 
-void ParticipantUDP::Setup(int localPort,
+void ParticipantUDP::SetupUDP(int localPort,
                            const char* remoteIpAddress,
                            int remotePort) {
-#if defined(IDF_VER)
   std::cout << "Set up UDP\n";
   GetBroadcastAddress();
 
@@ -22,42 +21,57 @@ void ParticipantUDP::Setup(int localPort,
   }
 
   // Create a UDP socket
-  this->sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
-  if (this->sockfd < 0) {
+  this->sock = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+  if (this->sock < 0) {
     std::cout << "Unable to create UDP socket: errno " << errno << "\n";
     vTaskDelete(NULL);
     return;
   }
 
-  // Set up the server address structure
+  /*
+  // Set up the receiving(local) address
   struct sockaddr_in local_addr;
   memset(&local_addr, 0, sizeof(local_addr));
   local_addr.sin_family = AF_INET;
-  local_addr.sin_port = htons(this->port);
+  local_addr.sin_port = htons(localPort);
   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) {
+  // Bind the socket to the receiving address
+  if (bind(this->sock, (struct sockaddr*)&local_addr, sizeof(local_addr)) < 0) {
     std::cout << "Unable to bind UDP socket: errno " << errno << "\n";
-    close(sockfd);
+    close(sock);
     vTaskDelete(NULL);
     return;
   }
+    */
 
-  // Initialize the dest_addr structure
+  // Initialize the destination(remote) address
   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);
+  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);
 
-  std::cout << "Wifi sync started local " << this->port << ", remote "
+    this->connected = true;
+
+  std::cout << "Wifi sync started local " << localPort << ", remote "
             << this->remoteSite->ipAddress << ":" << this->remoteSite->port
             << "\n";
-#endif  // IDF_VER
+
+  // std::cout << "socket: " << (int)this->sock << std::endl;
+  // ParticipantMsg* msg = new ParticipantMsg(this->networkId);
+  // int bufferSize = msg->Serialize(this->buffer);
+  // int err = sendto(this->sock, buffer, bufferSize, 0,
+  //                  (struct sockaddr*)&dest_addr, sizeof(dest_addr));
+  // if (errno != 0)
+  //   std::cout << "AASend error " << err << " or " << errno << "\n";
+  // else
+  //   std::cout << "AASend SUCCESS\n";
+
+  //SendTest();
 }
 
 void ParticipantUDP::GetBroadcastAddress() {
@@ -83,10 +97,11 @@ void ParticipantUDP::GetBroadcastAddress() {
 #endif  // IDF_VER
 }
 
-void ParticipantUDP::Receive() {
+void ParticipantUDP::ReceiveUDP() {
 #if defined(IDF_VER)
+/*
   struct pollfd fds[1];
-  fds[0].fd = sockfd;
+  fds[0].fd = sock;
   fds[0].events = POLLIN;  // We're looking for data available to read
 
   // Use poll() with a timeout of 0 to return immediately
@@ -103,7 +118,7 @@ void ParticipantUDP::Receive() {
   char sender_ipAddress[INET_ADDRSTRLEN];
 
   while (ret > 0 && fds[0].revents & POLLIN) {
-    int packetSize = recvfrom(this->sockfd, buffer, sizeof(buffer) - 1, 0,
+    int packetSize = recvfrom(this->sock, buffer, sizeof(buffer) - 1, 0,
                               (struct sockaddr*)&source_addr, &addr_len);
     if (packetSize < 0) {
       std::cout << "recvfrom() error\n";
@@ -126,18 +141,66 @@ void ParticipantUDP::Receive() {
     }
   }
   // std::cout << "no more messages\n";
-
+*/
 #endif  // IDF_VER
 }
 
-bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
-#if defined(IDF_VER)
-  // std::cout << "Sending to " << remoteParticipant->ipAddress << ":"
-  //           << remoteParticipant->port << "\n";
+ParticipantUDP::ParticipantUDP(int port) : ParticipantUDPGeneric(port) {}
 
-  int err = sendto(this->sockfd, buffer, bufferSize, 0,
-                   (struct sockaddr*)&dest_addr, sizeof(dest_addr));
-  if (errno != 0)
+ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
+    : ParticipantUDPGeneric(ipAddress, port, localPort) {}
+
+// bool ParticipantUDP::SendTest() {
+// #if defined(IDF_VER)
+//   // std::cout << "socket: " << (int)this->sock << std::endl;
+//   // UBaseType_t stack_size = uxTaskGetStackHighWaterMark(NULL);  // NULL to check the main task
+//   // size_t free_heap = xPortGetFreeHeapSize();
+//   // std::cout <<  "Stack High Water Mark: " << stack_size << " heap " << free_heap << std::endl;
+
+//   ParticipantMsg* msg = new ParticipantMsg(this->networkId);
+//   int bSize = msg->Serialize(this->buffer);
+//   // std::cout << "buffer size " << bSize << std::endl;
+//   int err = sendto(this->sock, buffer, bSize, 0, (struct sockaddr*)&dest_addr,
+//                    sizeof(dest_addr));
+//   if (errno != 0)
+//     std::cout << "BBSend error " << err << " or " << errno << "\n";
+//   else
+//     std::cout << "BBSend SUCCESS\n";
+
+// #endif
+//   return true;
+// }
+
+bool ParticipantUDP::Send(IMessage* msg) {
+  int bufferSize = msg->Serialize(this->buffer);
+  if (bufferSize <= 0)
+    return true;
+
+  std::cout << "send msg " << (static_cast<int>(this->buffer[0]) & 0xff)
+            << " to " << this->remoteSite->ipAddress << std::endl;
+
+  return this->SendTo(this->remoteSite, bufferSize);
+}
+
+bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant,
+                            int bufferSize) {
+#if defined(IDF_VER)
+  uint16_t port = ntohs(dest_addr.sin_port);
+
+  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)
     std::cout << "Send error " << err << " or " << errno << "\n";
 
 #endif
@@ -154,7 +217,7 @@ 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(sockfd, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
+  int err = sendto(sock, buffer, bufferSize, 0, (struct sockaddr*)&dest_addr,
                    sizeof(dest_addr));
   if (err != 0)
     std::cout << "Publish error\n";
@@ -162,5 +225,4 @@ bool ParticipantUDP::Publish(IMessage* msg) {
   return true;
 };
 
-}  // namespace EspIdf
 }  // namespace RoboidControl

EspIdf/EspIdfParticipant.h

@@ -1,26 +1,47 @@
 #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 RoboidControl::ParticipantUDP {
+class ParticipantUDP : public ParticipantUDPGeneric {
  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 Send(Participant* remoteParticipant, int bufferSize);
+  bool SendTo(RemoteParticipantUDP* 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 sockfd;
+  int sock;
   struct sockaddr_in dest_addr;
   // struct sockaddr_in src_addr;
 #endif
@@ -28,5 +49,6 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
   void GetBroadcastAddress();
 };
 
-}  // namespace EspIdf
 }  // namespace RoboidControl
+
+#endif

Messages/LowLevelMessages.cpp

@@ -5,6 +5,83 @@
 
 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) {
@@ -42,58 +119,5 @@ 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

@@ -11,6 +11,10 @@ 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::ReceiveQuat32(buffer, &ix);
+  this->orientation = LowLevelMessages::ReceiveSwingTwist(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::SendQuat32(buffer, &ix, this->orientation);
+    LowLevelMessages::SendSwingTwist(buffer, &ix, this->orientation);
   if ((this->poseType & Pose_LinearVelocity) != 0)
     LowLevelMessages::SendSpherical(buffer, &ix, this->linearVelocity);
   if ((this->poseType & Pose_AngularVelocity) != 0)

Participant.cpp

@@ -1,13 +1,15 @@
 #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) {
@@ -16,17 +18,14 @@ void Participant::ReplaceLocalParticipant(Participant& newParticipant) {
 }
 
 Participant::Participant() {
-  std::cout << "P\n";
-  //this->root.name = "Isolated";
-  this->root = new Thing(this);
-  this->root->name = "Root";
-  this->Add(this->root);
+  Thing::CreateRoot(this);
+  //this->Add(this->root);
 }
 
+/*
 Participant::Participant(const char* ipAddress, int port) {
-  // Add the root thing to the list of things, because we could not do that
-  // earlier (I think)
-  this->Add(this->root);
+  Thing::CreateRoot(this);
+  //this->Add(this->root);
 
   // make a copy of the ip address string
   int addressLength = (int)strlen(ipAddress);
@@ -43,27 +42,62 @@ 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() {
+void Participant::Update(bool recurse) {
   for (Thing* thing : this->things) {
     if (thing != nullptr)
-      thing->Update(true);
+      thing->Update();
   }
 }
 
-Thing* Participant::Get(unsigned char thingId) {
+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) {
   for (Thing* thing : this->things) {
-    if (thing->id == thingId)
+    if (thing->owner->networkId == networkId && 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;
 }
 
@@ -85,22 +119,24 @@ 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->id);
+    Thing* foundThing = Get(thing->owner->networkId, thing->id);
     if (foundThing == nullptr) {
 #if defined(NO_STD)
       this->things[this->thingCount++] = thing;
 #else
       this->things.push_back(thing);
 #endif
-      // std::cout << "Add thing " << this->ipAddress << ":" << this->port <<
-      // "["
-      //           << (int)thing->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";
     }
   }
 }
@@ -128,86 +164,88 @@ 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(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(unsigned char participantId) {
-#if !defined(NO_STD)
-  for (Participant* participant : ParticipantRegistry::participants) {
-    if (participant == nullptr)
-      continue;
-    if (participant->networkId == participantId)
-      return participant;
-  }
-  std::cout << "Could not find participant " << (int)participantId << std::endl;
-#endif
-  return nullptr;
-}
+// // Participant* ParticipantRegistry::Add(const char* ipAddress,
+// //                                       unsigned int port) {
+// //   Participant* participant = new Participant(ipAddress, port);
+// //   Add(participant);
+// //   return participant;
+// // }
 
-Participant* ParticipantRegistry::Add(const char* ipAddress,
-                                      unsigned int port) {
-  Participant* participant = new Participant(ipAddress, port);
-  Add(participant);
-  return participant;
-}
+// void ParticipantRegistry::Add(Participant* participant) {
+//   Participant* foundParticipant =
+//     Get(participant->networkId);
+//       //Get(participant->ipAddress, participant->port);
 
-void ParticipantRegistry::Add(Participant* participant) {
-  Participant* foundParticipant =
-      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";
+//   }
+// }
 
-  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(Participant* participant) {
+//   // participants.remove(participant);
+// }
 
-void ParticipantRegistry::Remove(Participant* participant) {
-  // participants.remove(participant);
-}
+// #if defined(NO_STD)
+// Participant** ParticipantRegistry::GetAll() const {
+//   return ParticipantRegistry::participants;
+// }
+// #else
+// const std::list<Participant*>& ParticipantRegistry::GetAll() const {
+//   return ParticipantRegistry::participants;
+// }
+// #endif
 
-#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
+// #pragma endregion ParticipantRegistry
 
 }  // namespace RoboidControl

Participant.h

@@ -1,11 +1,13 @@
 #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:
@@ -13,7 +15,7 @@ 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
@@ -23,7 +25,8 @@ 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);
@@ -51,6 +54,7 @@ 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
@@ -59,30 +63,39 @@ 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 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 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);
 
-  Thing* root = new Thing(this);
+#pragma endregion Init
+
+#pragma region Properties
+
+ public:
+  /// @brief The name of the participant
+  const char* name = "Participant";
+
+  /// @brief The network Id to identify the participant
+  unsigned char networkId = 0;
+
+  /// @brief The root thing for this participant
+  Thing* root = nullptr;
 
  public:
 #if defined(NO_STD)
@@ -93,9 +106,10 @@ 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 thingId);
+  Thing* Get(unsigned char networkId, unsigned char thingId);
   /// @brief Add a new thing for this participant.
   /// @param thing The thing to add
   /// @param checkId If true, the thing.id is regenerated if it is zero
@@ -104,12 +118,31 @@ class Participant {
   /// @param thing The thing to remove
   void Remove(Thing* thing);
 
-  /// @brief Update all things for this participant
-  /// @param currentTimeMs The current time in milliseconds (optional)
-  virtual void Update();
+#pragma endregion Properties
+
+#pragma region Update
 
  public:
-  static ParticipantRegistry registry;
+  /// @brief Update all things for this participant
+  virtual void Update(bool recurse = true);
+
+#pragma endregion Update
+
+#pragma region Send
+
+ public:
+  char buffer[1024];
+
+  virtual bool Send(IMessage* msg);
+
+#pragma endregion Send
+
+// #pragma region Participant Registry
+
+//  public:
+//   static ParticipantRegistry registry;
+
+// #pragma endregion Participant Registry
 };
 
 }  // namespace RoboidControl

Participants/IsolatedParticipant.cpp

@@ -1,14 +1,16 @@
+/*
 #include "IsolatedParticipant.h"
 #include "ParticipantUDP.h"
 
 namespace RoboidControl {
 
-static ParticipantUDP* isolatedParticipant = nullptr;
+static ParticipantUDPGeneric* isolatedParticipant = nullptr;
 
 Participant* IsolatedParticipant::Isolated() {
   if (isolatedParticipant == nullptr)
-    isolatedParticipant = new ParticipantUDP(0);
+    isolatedParticipant = new ParticipantUDPGeneric(0);
   return isolatedParticipant;
 }
 
-}  // namespace RoboidControl
+}  // namespace RoboidControl
+  */

Participants/IsolatedParticipant.h

@@ -1,3 +1,4 @@
+/*
 #include "Participant.h"
 
 namespace RoboidControl {
@@ -10,4 +11,5 @@ class IsolatedParticipant {
   static Participant* Isolated();
 };
 
-}
+}
+*/

Participants/ParticipantUDP.cpp

@@ -8,81 +8,167 @@
 #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
 
-ParticipantUDP::ParticipantUDP(int port) : Participant("127.0.0.1", port) {
+ParticipantUDPGeneric::ParticipantUDPGeneric(int port)
+    : RemoteParticipantUDP("127.0.0.1", port) {
   this->name = "ParticipantUDP";
   this->remoteSite = nullptr;
   if (this->port == 0)
     this->isIsolated = true;
-  Participant::registry.Add(this);
+  registry.Add(this);
 
   this->root = Thing::LocalRoot();  //::LocalParticipant->root;
   this->root->owner = this;
   this->root->name = "UDP Root";
+  std::cout << "P2 " << (int)this->root << std::endl;
   this->Add(this->root);
 
   Participant::ReplaceLocalParticipant(*this);
 }
 
-ParticipantUDP::ParticipantUDP(const char* ipAddress, int port, int localPort)
-    : Participant("127.0.0.1", localPort) {
+ParticipantUDPGeneric::ParticipantUDPGeneric(const char* ipAddress,
+                                             int port,
+                                             int localPort)
+    : RemoteParticipantUDP("127.0.0.1", localPort) {
   this->name = "ParticipantUDP";
   if (this->port == 0)
     this->isIsolated = true;
   else
-    this->remoteSite = new Participant(ipAddress, port);
-  Participant::registry.Add(this);
+    this->remoteSite = new RemoteParticipantUDP(ipAddress, port);
+  registry.Add(this);
 
   this->root = Thing::LocalRoot();  // Participant::LocalParticipant->root;
   this->root->owner = this;
   this->root->name = "UDP Root";
+  std::cout << "P1 " << (int)this->root << std::endl;
   this->Add(this->root);
 
   Participant::ReplaceLocalParticipant(*this);
 }
 
-static ParticipantUDP* isolatedParticipant = nullptr;
-
-ParticipantUDP* ParticipantUDP::Isolated() {
-  if (isolatedParticipant == nullptr)
-    isolatedParticipant = new ParticipantUDP(0);
-  return isolatedParticipant;
-}
-
-void ParticipantUDP::begin() {
+void ParticipantUDPGeneric::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
@@ -91,105 +177,55 @@ void ParticipantUDP::SetupUDP(int localPort,
 // 1. receive external messages
 // 2. update the state
 // 3. send out the updated messages
-void ParticipantUDP::Update() {
+void ParticipantUDPGeneric::Update(bool recurse) {
   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(this->remoteSite, msg);
-      delete msg;
+        this->Send(msg);
 
+      delete msg;
       this->nextPublishMe = currentTimeMs + this->publishInterval;
     }
 
-    this->ReceiveUDP();
+    //this->ReceiveUDP();
   }
 
   UpdateMyThings();
   UpdateOtherThings();
 }
 
-void ParticipantUDP::PrepMyThings() {
-  for (Thing* thing : this->things) {
-    if (thing == nullptr)
-      continue;
-      
-    thing->PrepareForUpdate();
-  }
-}
-
-void ParticipantUDP::UpdateMyThings() {
-  // std::cout << this->things.size() << std::endl;
+void ParticipantUDPGeneric::UpdateMyThings() {
   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?
+      // 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 ParticipantUDP::UpdateOtherThings() {
+void ParticipantUDPGeneric::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 : Participant::registry.GetAll()) {
+  for (Participant* participant : registry.GetAll()) {
 #endif
     if (participant == nullptr || participant == this)
       continue;
@@ -203,10 +239,10 @@ void ParticipantUDP::UpdateOtherThings() {
 
     for (Thing* thing : participant->things) {
       PoseMsg* poseMsg = new PoseMsg(participant->networkId, thing);
-      this->Send(participant, poseMsg);
+      participant->Send(poseMsg);
       delete poseMsg;
       BinaryMsg* binaryMsg = new BinaryMsg(participant->networkId, thing);
-      this->Send(participant, binaryMsg);
+      participant->Send(binaryMsg);
       delete binaryMsg;
     }
   }
@@ -217,55 +253,34 @@ void ParticipantUDP::UpdateOtherThings() {
 
 #pragma region Send
 
-void ParticipantUDP::SendThingInfo(Participant* remoteParticipant,
-                                   Thing* thing) {
+void ParticipantUDPGeneric::SendThingInfo(Participant* remoteParticipant,
+                                          Thing* thing) {
   // std::cout << "Send thing info [" << (int)thing->id << "] \n";
   ThingMsg* thingMsg = new ThingMsg(this->networkId, thing);
-  this->Send(remoteParticipant, thingMsg);
+  remoteParticipant->Send(thingMsg);
   delete thingMsg;
   NameMsg* nameMsg = new NameMsg(this->networkId, thing);
-  this->Send(remoteParticipant, nameMsg);
+  remoteParticipant->Send(nameMsg);
   delete nameMsg;
   ModelUrlMsg* modelMsg = new ModelUrlMsg(this->networkId, thing);
-  this->Send(remoteParticipant, modelMsg);
+  remoteParticipant->Send(modelMsg);
   delete modelMsg;
   PoseMsg* poseMsg = new PoseMsg(this->networkId, thing, true);
-  this->Send(remoteParticipant, poseMsg);
+  remoteParticipant->Send(poseMsg);
   delete poseMsg;
-  BinaryMsg* customMsg = new BinaryMsg(this->networkId, thing);
-  this->Send(remoteParticipant, customMsg);
-  delete customMsg;
+  BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
+  remoteParticipant->Send(binaryMsg);
+  delete binaryMsg;
 }
 
-bool ParticipantUDP::Send(Participant* remoteParticipant, IMessage* msg) {
-  int bufferSize = msg->Serialize(this->buffer);
-  if (bufferSize <= 0)
-    return true;
+bool ParticipantUDPGeneric::Send(IMessage* msg) {
+  if (this->remoteSite != nullptr)
+    return this->remoteSite->Send(msg);
 
-  // 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
+  return true;
 }
 
-void ParticipantUDP::PublishThingInfo(Thing* thing) {
+void ParticipantUDPGeneric::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...
@@ -286,71 +301,31 @@ void ParticipantUDP::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 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) {
+void ParticipantUDPGeneric::ReceiveData(unsigned char packetSize,
+                                        char* senderIpAddress,
+                                        unsigned int senderPort) {
   // std::cout << "Receive data from " << senderIpAddress << ":" << senderPort
   //           << std::endl;
-  Participant* sender = this->registry.Get(senderIpAddress, senderPort);
+  RemoteParticipantUDP* 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 ParticipantUDP::ReceiveData(unsigned char bufferSize,
-                                 Participant* sender) {
+void ParticipantUDPGeneric::ReceiveData(unsigned char bufferSize,
+                                        RemoteParticipantUDP* sender) {
   unsigned char msgId = this->buffer[0];
   // std::cout << "receive msg " << (int)msgId << "\n";
   // std::cout << "  buffer size = " <<(int) bufferSize << "\n";
@@ -402,6 +377,18 @@ void ParticipantUDP::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
@@ -411,14 +398,16 @@ void ParticipantUDP::ReceiveData(unsigned char bufferSize,
 #endif
 }
 
-void ParticipantUDP::Process(Participant* sender, ParticipantMsg* msg) {
+void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+                                    ParticipantMsg* msg) {
 #if defined(DEBUG)
   std::cout << this->name << ": Process ParticipantMsg " << (int)msg->networkId
             << "\n";
 #endif
 }
 
-void ParticipantUDP::Process(Participant* sender, NetworkIdMsg* msg) {
+void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+                                    NetworkIdMsg* msg) {
 #if defined(DEBUG)
   std::cout << this->name << ": process NetworkIdMsg " << (int)this->networkId
             << " -> " << (int)msg->networkId << "\n";
@@ -433,28 +422,68 @@ void ParticipantUDP::Process(Participant* sender, NetworkIdMsg* msg) {
   }
 }
 
-void ParticipantUDP::Process(Participant* sender, InvestigateMsg* msg) {
+void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+                                    InvestigateMsg* msg) {
 #if defined(DEBUG)
   std::cout << this->name << ": Process InvestigateMsg [" << (int)msg->networkId
             << "/" << (int)msg->thingId << "]\n";
 #endif
 }
 
-void ParticipantUDP::Process(Participant* sender, ThingMsg* msg) {
+void ParticipantUDPGeneric::Process(RemoteParticipantUDP* 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);
 }
 
-void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
+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) {
 #if defined(DEBUG)
   std::cout << this->name << ": process NameMsg [" << (int)msg->networkId << "/"
             << (int)msg->thingId << "] ";
 #endif
 
-  Thing* thing = sender->Get(msg->thingId);
+  Thing* thing = sender->Get(msg->networkId, msg->thingId);
   if (thing != nullptr) {
     int nameLength = msg->nameLength;
     int stringLen = nameLength + 1;
@@ -480,23 +509,25 @@ void ParticipantUDP::Process(Participant* sender, NameMsg* msg) {
 #endif
 }
 
-void ParticipantUDP::Process(Participant* sender, ModelUrlMsg* msg) {
+void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+                                    ModelUrlMsg* msg) {
 #if defined(DEBUG)
   std::cout << this->name << ": process ModelUrlMsg [" << (int)msg->networkId
             << "/" << (int)msg->thingId << "]\n";
 #endif
 }
 
-void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
+void ParticipantUDPGeneric::Process(RemoteParticipantUDP* 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 = Participant::registry.Get(msg->networkId);
+  Participant* owner = registry.Get(msg->networkId);
   if (owner == nullptr)
     return;
 
-  Thing* thing = owner->Get(msg->thingId);
+  Thing* thing = owner->Get(msg->networkId, msg->thingId);
   if (thing == nullptr)
     return;
 
@@ -510,15 +541,16 @@ void ParticipantUDP::Process(Participant* sender, PoseMsg* msg) {
     thing->SetAngularVelocity(msg->angularVelocity);
 }
 
-void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
+void ParticipantUDPGeneric::Process(RemoteParticipantUDP* sender,
+                                    BinaryMsg* msg) {
 #if defined(DEBUG)
   std::cout << this->name << ": process BinaryMsg [" << (int)msg->networkId
             << "/" << (int)msg->thingId << "]\n";
 #endif
 
-  Participant* owner = Participant::registry.Get(msg->networkId);
+  Participant* owner = registry.Get(msg->networkId);
   if (owner != nullptr) {
-    Thing* thing = owner->Get(msg->thingId);
+    Thing* thing = owner->Get(msg->networkId, msg->thingId);
     if (thing != nullptr)
       thing->ProcessBinary(msg->data);
 #if !defined(NO_STD)
@@ -532,6 +564,26 @@ void ParticipantUDP::Process(Participant* sender, BinaryMsg* msg) {
   }
 }
 
+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

@@ -5,9 +5,10 @@
 #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/NetworkIdMsg.h"
+#include "Messages/TextMsg.h"
 #include "Messages/ThingMsg.h"
 #include "Participant.h"
 
@@ -30,6 +31,74 @@ 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
@@ -42,7 +111,7 @@ constexpr int MAX_SENDER_COUNT = 256;
 /// participant is created which can be obtained using
 /// RoboidControl::IsolatedParticipant::Isolated().
 /// @sa RoboidControl::Thing::Thing()
-class ParticipantUDP : public Participant {
+class ParticipantUDPGeneric : public RemoteParticipantUDP {
 #pragma region Init
 
  public:
@@ -51,36 +120,32 @@ class ParticipantUDP : public Participant {
   /// 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);
+  ParticipantUDPGeneric(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);
-
-  /// @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
+  ParticipantUDPGeneric(const char* ipAddress,
+                        int port = 7681,
+                        int localPort = 7681);
 
 #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
-  Participant* remoteSite = nullptr;
+  RemoteParticipantUDP* 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;
@@ -94,16 +159,18 @@ class ParticipantUDP : public Participant {
   void begin();
   bool connected = false;
 
+#pragma endregion Properties
+
 #pragma region Update
 
  public:
-  virtual void Update() override;
+  virtual void Update(bool recurse = true) 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();
 
@@ -114,34 +181,46 @@ class ParticipantUDP : public Participant {
   void SendThingInfo(Participant* remoteParticipant, Thing* thing);
   void PublishThingInfo(Thing* thing);
 
-  bool Send(Participant* remoteParticipant, IMessage* msg);
-  bool Publish(IMessage* msg);
+  virtual bool Send(IMessage* msg) override;
+  virtual bool Publish(IMessage* msg) = 0;
 
 #pragma endregion Send
 
 #pragma region Receive
 
-protected:
+ protected:
   void ReceiveData(unsigned char bufferSize,
                    char* senderIpAddress,
                    unsigned int senderPort);
-  void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);
+  void ReceiveData(unsigned char bufferSize, RemoteParticipantUDP* remoteParticipant);
 
-  void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
+  virtual void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort) = 0;
 
-  void ReceiveUDP();
+  virtual void ReceiveUDP() = 0;
 
-  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(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);
 
 #pragma endregion Receive
 
+public:
+  static ParticipantRegistry registry;
+
 };
 
 }  // namespace RoboidControl
+
+#include "EspIdf/EspIdfParticipant.h"

Participants/SiteServer.cpp

@@ -11,11 +11,11 @@ namespace RoboidControl {
 
 #pragma region Init
 
-SiteServer::SiteServer(int port) : ParticipantUDP(port) {
+SiteServer::SiteServer(int port) : ParticipantUDPGeneric(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 : Participant::registry.GetAll()) {
+      for (Participant* participant : registry.GetAll()) {
 #endif
         if (participant == nullptr || participant == this)
           continue;
 
         PoseMsg* poseMsg = new PoseMsg(this->networkId, thing);
-        this->Send(participant, poseMsg);
+        participant->Send(poseMsg);
         delete poseMsg;
         BinaryMsg* binaryMsg = new BinaryMsg(this->networkId, thing);
-        this->Send(participant, binaryMsg);
+        participant->Send(binaryMsg);
         delete binaryMsg;
       }
     }
@@ -56,30 +56,30 @@ void SiteServer::UpdateMyThings() {
 
 #pragma region Receive
 
-void SiteServer::Process(Participant* sender, ParticipantMsg* msg) {
+void SiteServer::Process(RemoteParticipantUDP* 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);
-    this->Send(sender, msg);
+    sender->Send(msg);
     delete msg;
   }
 }
 
-void SiteServer::Process(Participant* sender, NetworkIdMsg* msg) {}
+void SiteServer::Process(RemoteParticipantUDP* sender, NetworkIdMsg* msg) {}
 
-void SiteServer::Process(Participant* sender, ThingMsg* msg) {
-  Thing* thing = sender->Get(msg->thingId);
-  if (thing == nullptr)
+void SiteServer::Process(RemoteParticipantUDP* sender, ThingMsg* msg) {
+  Thing* thing = sender->Get(msg->networkId, 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->parentId));
+    thing->SetParent(Get(msg->networkId, msg->parentId));
     if (thing->IsRoot())
     // if (thing->GetParent() != nullptr)
 #if defined(NO_STD)

Participants/SiteServer.h

@@ -2,16 +2,16 @@
 
 #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 {
 
 /// @brief A participant is device which can communicate with other participants
-class SiteServer : public ParticipantUDP {
+class SiteServer : public ParticipantUDPGeneric {
   
 #pragma region Init
 
@@ -33,9 +33,9 @@ class SiteServer : public ParticipantUDP {
  protected:
   unsigned long nextPublishMe = 0;
 
-  virtual void Process(Participant* sender, ParticipantMsg* msg) override;
-  virtual void Process(Participant* sender, NetworkIdMsg* msg) override;
-  virtual void Process(Participant* sender, ThingMsg* msg) override;
+  virtual void Process(RemoteParticipantUDP* sender, ParticipantMsg* msg) override;
+  virtual void Process(RemoteParticipantUDP* sender, NetworkIdMsg* msg) override;
+  virtual void Process(RemoteParticipantUDP* sender, ThingMsg* msg) override;
 
 #pragma endregion Receive
 

Posix/PosixParticipant.cpp

@@ -1,4 +1,5 @@
 #include "PosixParticipant.h"
+#if defined(__unix__) || defined(__APPLE__)
 
 #if defined(__unix__) || defined(__APPLE__)
 #include <arpa/inet.h>
@@ -9,7 +10,6 @@
 #endif
 
 namespace RoboidControl {
-namespace Posix {
 
 void ParticipantUDP::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 #if defined(__unix__) || defined(__APPLE__)
@@ -90,7 +90,7 @@ void ParticipantUDP::Receive() {
 #endif
 }
 
-bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
+bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize) {
 #if defined(__unix__) || defined(__APPLE__)
   // std::cout << "Send to " << remoteParticipant->ipAddress << ":" << ntohs(remoteParticipant->port)
   //           << "\n";
@@ -132,5 +132,6 @@ bool ParticipantUDP::Publish(IMessage* msg) {
   return true;
 }
 
-}  // namespace Posix
 }  // namespace RoboidControl
+
+#endif

Posix/PosixParticipant.h

@@ -1,15 +1,15 @@
 #pragma once
+#if defined(__unix__) || defined(__APPLE__)
 
 #include "Participants/ParticipantUDP.h"
 
 namespace RoboidControl {
-namespace Posix {
 
-class ParticipantUDP : public RoboidControl::ParticipantUDP {
+class ParticipantUDP : public ParticipantUDPGeneric {
  public:
   void Setup(int localPort, const char* remoteIpAddress, int remotePort);
   void Receive();
-  bool Send(Participant* remoteParticipant, int bufferSize);
+  bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
   bool Publish(IMessage* msg);
 
  protected:
@@ -20,5 +20,5 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
 #endif
 };
 
-}  // namespace Posix
 }  // namespace RoboidControl
+#endif

README.md

@@ -14,4 +14,60 @@ Supporting:
 # Basic components
 
 - RoboidControl::Thing
-- RoboidControl::Participant
+- RoboidControl::Participant
+
+# Installation
+
+## Core code
+
+The repository uses cmake for building. You can place it in a subfolder of your project and include it in you `CMakeLists.txt`.
+For example if the library is placed in the subfolder `roboidcontrol`:
+```
+# Add the path to Roboid Control
+add_subdirectory(roboidcontrol)
+
+# Your source files/executable
+add_executable(my_executable main.cpp) 
+
+# Link against RoboidControl
+target_link_libraries(my_executable RoboidControl)
+```
+
+## Arduino (PlatformIO)
+
+Arduino is only supported in combination with PlatformIO. The Arduino IDE is not (yet?) supported.
+
+The best way to include support for Roboid Control in PlatformIO is
+to clone the Roboid Control for C++ repository into a subfolder of the /lib folder.
+Alternatively you can download the zip file and unpack it as a subfolder of the /lib folder.
+
+## ESP-IDF
+
+The best way to include support for Roboid Control in PlatformIO is
+to clone the Roboid Control for C++ repository into a subfolder of the /components folder.
+Alternatively you can download the zip file and unpack it as a subfolder of the /components folder.
+
+Make sure you have included RoboidControl as a component in your top-level CMakeLists.txt, for example:
+```
+list(APPEND EXTRA_COMPONENT_DIRS
+    components/RoboidControl    
+    )
+```
+
+# Get Started
+
+## Core C++ Examples
+
+This repository contains examples in the `examples` folder. You can build these using cmake.
+
+For example, to build the BB2A example:
+``` 
+cmake -B build -D BUILD_EXAMPLE_BB2A=ON
+cmake --build build
+```
+The resulting executable is then `build/examples/Debug/BB2A.exe`
+
+## Arduino (PlatformIO) Examples
+
+Specific examples for the Arduino platform are found in the `Arduino\examples` folder.
+To use them you should create a new project in PlatformIO and then copy the example code to your project.

Testing/Temporary/LastTest.log

@@ -0,0 +1,3 @@
+Start testing: Jun 17 17:17 W. Europe Summer Time
+----------------------------------------------------------
+End testing: Jun 17 17:17 W. Europe Summer Time

Thing.cpp

@@ -28,7 +28,8 @@ Thing* Thing::LocalRoot() {
 
 // Only use this for root things
 Thing::Thing(Participant* owner) {
-  this->type = Type::Roboid;  // should become root
+  this->type = Type::Root;
+  this->name = "Root";
 
   this->position = Spherical::zero;
   this->positionUpdated = true;
@@ -40,12 +41,16 @@ Thing::Thing(Participant* owner) {
   this->angularVelocity = Spherical::zero;
 
   this->owner = owner;
-  //this->owner->Add(this, true);
+  this->owner->Add(this);
   std::cout << this->owner->name << ": New root thing " << std::endl;
 }
 
-Thing::Thing(unsigned char thingType, Thing* parent) {
-  this->type = thingType;
+void Thing::CreateRoot(Participant* owner) {
+  owner->root = new Thing(owner);
+}
+
+Thing::Thing(Thing* parent) {
+  this->type = Type::Undetermined;
 
   this->position = Spherical::zero;
   this->positionUpdated = true;
@@ -68,13 +73,6 @@ 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) {
@@ -103,25 +101,10 @@ 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;  //&Thing::Root;
+  return this == LocalRoot() || this->parent == nullptr;
 }
 
-// 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;
 }
@@ -270,24 +253,16 @@ 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)
@@ -297,10 +272,6 @@ 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 ParticipantUDP;
+class ParticipantUDPGeneric;
 
 #define THING_STORE_SIZE 256
 // IMPORTANT: values higher than 256 will need to change the Thing::id type
@@ -20,57 +20,57 @@ class ParticipantUDP;
 class Thing {
  public:
   /// @brief Predefined thing types
-  enum Type : unsigned char {
-    Undetermined,
-    // Sensor,
-    Switch,
-    DistanceSensor,
-    DirectionalSensor,
-    TemperatureSensor,
-    TouchSensor,
-    // Motor,
-    ControlledMotor,
-    UncontrolledMotor,
-    Servo,
-    IncrementalEncoder,
+  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;
     // Other
-    Roboid,
-    Humanoid,
-    ExternalSensor,
-    DifferentialDrive
+    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;
   };
 
 #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
-  /// @param thingType The type of thing (can use Thing::Type)
+  /// @brief Create a new Thing
   /// @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 a root thing.
-  Thing(unsigned char thingType = Thing::Type::Undetermined,
-        Thing* parent = LocalRoot());
+  /// without a parent will be connected to the root thing.
+  Thing(Thing* parent = LocalRoot());
 
-  /// @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
+ 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);
 
+ public:
+  /// @brief Destructor for a Thing
   ~Thing();
 
-  static Thing Reconstruct(Participant* owner,
-                           unsigned char thingType,
-                           unsigned char thingId);
+  /// @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();
 
 #pragma endregion Init
 
@@ -80,9 +80,7 @@ class Thing {
 
 #pragma region Properties
 
-  /// @brief The participant managing this thing
-  Participant* owner = nullptr;
-
+ public:
   /// @brief The ID of the thing
   unsigned char id = 0;
 
@@ -90,10 +88,17 @@ 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;
@@ -102,14 +107,12 @@ 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 format is .obj
+  /// the only official supported model formats are .png (sprite), .gltf and .glb
   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
 
@@ -117,13 +120,13 @@ 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
@@ -225,16 +228,12 @@ 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(Type::DifferentialDrive, parent) {
+DifferentialDrive::DifferentialDrive(Thing* parent) : Thing(parent) {
+  this->type = Type::DifferentialDrive;
   this->name = "Differential drive";
 
   this->leftWheel = new Motor(this);
@@ -18,7 +18,8 @@ DifferentialDrive::DifferentialDrive(Thing* parent)
 DifferentialDrive::DifferentialDrive(Motor* leftMotor,
                                      Motor* rightMotor,
                                      Thing* parent)
-    : Thing(Type::DifferentialDrive, parent) {
+    : Thing(parent) {
+  this->type = Type::DifferentialDrive;
   this->name = "Differential drive";
   this->leftWheel = leftMotor;
   this->rightWheel = rightMotor;

Things/DigitalSensor.cpp

@@ -2,18 +2,9 @@
 
 namespace RoboidControl {
 
-//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) {}
+DigitalSensor::DigitalSensor(Thing* parent) : Thing(parent) {
+  this->type = Type::Switch;
+}
 
 int DigitalSensor::GenerateBinary(char* bytes, unsigned char* ix) {
   bytes[(*ix)++] = state ? 1 : 0;

Things/DistanceSensor.cpp

@@ -0,0 +1,29 @@
+#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

@@ -0,0 +1,41 @@
+#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

@@ -1,11 +1,29 @@
 #include "Motor.h"
 
+#include "Messages/BinaryMsg.h"
+#include "Participant.h"
+
 namespace RoboidControl {
 
-Motor::Motor(Thing* parent) : Thing(Type::UncontrolledMotor, parent) {}
+Motor::Motor(Thing* parent) : Thing(parent) {
+  this->type = Type::UncontrolledMotor;
+}
 
 void Motor::SetTargetVelocity(float targetSpeed) {
+  if (targetSpeed != this->targetVelocity) {
     this->targetVelocity = targetSpeed;
+
+    if (this->owner->networkId != 0) {
+      // in other word: if we are connected...
+      BinaryMsg* binaryMsg = new BinaryMsg(this->owner->networkId, this);
+      this->owner->Send(binaryMsg);
+      delete binaryMsg;
+    }
+  }
+}
+
+float Motor::GetTargetVelocity() {
+  return this->targetVelocity;
 }
 
 int Motor::GenerateBinary(char* data, unsigned char* ix) {

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

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

Things/TemperatureSensor.cpp

@@ -4,15 +4,9 @@
 
 namespace RoboidControl {
 
-// 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) {}
+TemperatureSensor::TemperatureSensor(Thing* parent) : Thing(parent) {
+  this->type = Type::TemperatureSensor;
+}
 
 void TemperatureSensor::SetTemperature(float temp) {
   this->temperature = temp;

Things/TouchSensor.cpp

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

Things/TouchSensor.h

@@ -6,7 +6,7 @@ namespace RoboidControl {
 
 /// @brief A sensor which can detect touches
 class TouchSensor : public Thing {
-// Why finishing this release (0.3), I notice that this is equivalent to a digital sensor
+// When 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 touchedSomething = false;
+  bool IsTouching();
 
-  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
@@ -30,6 +30,7 @@ class TouchSensor : public Thing {
   virtual void ProcessBinary(char* bytes) override;
 protected:
   bool externalTouch = false;
+  bool internalTouch = false;
 };
 
 }  // namespace RoboidControl

Windows/WindowsParticipant.cpp

@@ -1,4 +1,5 @@
 #include "WindowsParticipant.h"
+#if defined(_WIN32) || defined(_WIN64)
 
 #if defined(_WIN32) || defined(_WIN64)
 #include <winsock2.h>
@@ -7,7 +8,6 @@
 #endif
 
 namespace RoboidControl {
-namespace Windows {
 
 void ParticipantUDP::Setup(int localPort, const char* remoteIpAddress, int remotePort) {
 #if defined(_WIN32) || defined(_WIN64)
@@ -102,7 +102,7 @@ void ParticipantUDP::Receive() {
 #endif // _WIN32 || _WIN64
 }
 
-bool ParticipantUDP::Send(Participant* remoteParticipant, int bufferSize) {
+bool ParticipantUDP::SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize) {
 #if defined(_WIN32) || defined(_WIN64)
   char ip_str[INET_ADDRSTRLEN];
   inet_ntop(AF_INET, &(remote_addr.sin_addr), ip_str, INET_ADDRSTRLEN);
@@ -142,5 +142,6 @@ bool ParticipantUDP::Publish(IMessage* msg) {
   return true;
 }
 
-}  // namespace Windows
 }  // namespace RoboidControl
+
+#endif

Windows/WindowsParticipant.h

@@ -1,15 +1,15 @@
 #pragma once
+#if defined(_WIN32) || defined(_WIN64)
 
 #include "Participants/ParticipantUDP.h"
 
 namespace RoboidControl {
-namespace Windows {
 
-class ParticipantUDP : public RoboidControl::ParticipantUDP {
+class ParticipantUDP : public ParticipantUDPGeneric {
  public:
   void Setup(int localPort, const char* remoteIpAddress, int remotePort);
   void Receive();
-  bool Send(Participant* remoteParticipant, int bufferSize);
+  bool SendTo(RemoteParticipantUDP* remoteParticipant, int bufferSize);
   bool Publish(IMessage* msg);
 
  protected:
@@ -18,5 +18,5 @@ class ParticipantUDP : public RoboidControl::ParticipantUDP {
   #endif
 };
 
-}  // namespace Windows
 }  // namespace RoboidControl
+#endif

examples/BB2A/main.cpp

@@ -27,10 +27,10 @@ int main() {
   while (true) {
     // The left wheel turns forward when nothing is touched on the right side
     // and turn backward when the roboid hits something on the right
-    float leftWheelSpeed = (touchRight.touchedSomething) ? -600.0f : 600.0f;
+    float leftWheelSpeed = (touchRight.IsTouching()) ? -600.0f : 600.0f;
     // The right wheel does the same, but instead is controlled by
     // touches on the left side
-    float rightWheelSpeed = (touchLeft.touchedSomething) ? -600.0f : 600.0f;
+    float rightWheelSpeed = (touchLeft.IsTouching()) ? -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(100);
+    delay(10);
 #else
-    sleep_for(milliseconds(100));
+    sleep_for(milliseconds(10));
 #endif
   }
 

examples/CMakeLists.txt

@@ -1,25 +1,8 @@
 # examples/CMakeLists.txt
 
-# Specify the minimum CMake version
-cmake_minimum_required(VERSION 3.10)
+# 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 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
-)
+    target_link_libraries(BB2A RoboidControl)
+endif()

examples/README.md

@@ -1 +1 @@
-Important: this folder has to be names 'examples' exactly to maintain compatibility with Arduino
+Important: this folder has to be named 'examples' exactly to maintain compatibility with Arduino

test/CMakeLists.txt

@@ -0,0 +1,30 @@
+# 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/thing_test.cc

@@ -15,7 +15,7 @@ TEST(RoboidControlSuite, HiddenParticipant) {
   unsigned long milliseconds = Thing::GetTimeMs();
   unsigned long startTime = milliseconds;
   while (milliseconds < startTime + 1000) {
-    Thing::UpdateThings();
+    thing->Update();
 
     milliseconds = Thing::GetTimeMs();
   }
@@ -23,7 +23,7 @@ TEST(RoboidControlSuite, HiddenParticipant) {
 }
 
 TEST(RoboidControlSuite, IsolatedParticipant) {
-  ParticipantUDP* participant = ParticipantUDP::Isolated();
+  ParticipantUDP* participant = new ParticipantUDP(0);
   Thing* thing = new Thing();
 
   unsigned long milliseconds = Thing::GetTimeMs();