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Add more examples

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This commit is contained in:
Johnathon Slightham
2026-03-07 15:17:45 -05:00
parent e78106d540
commit 87bb2d74b5
16 changed files with 228 additions and 26 deletions
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63
examples/rpc_call/main.cpp
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@@ -9,40 +9,51 @@
#include "libcontrol.h"
#include "rpc/RemoteManagement.h"
void progress_monitor_task(std::shared_ptr<RemoteManagement> rm, uint8_t module_id) {
while (true) {
std::this_thread::sleep_for(std::chrono::seconds(5));
std::cout << "Module " << (int)module_id << ": " << rm->ota_progress() * 100 << "% complete\n";
if (rm->ota_progress() >= 1.0) return;
}
}
void task(std::shared_ptr<RobotController> controller, uint8_t module_id, const std::string& filepath) {
auto rm = std::make_shared<RemoteManagement>(module_id, filepath, controller);
std::thread t(progress_monitor_task, rm, module_id);
rm->perform_ota();
t.join();
std::cout << "Done updating " << (int)module_id << "\n";
}
int main() {
// const auto messaging_interface = std::make_unique<MessagingInterface>();
// const auto modules = messaging_interface->find_connected_modules(std::chrono::seconds(3));
// std::cout << "Found " << modules.size() << " modules" << std::endl;
// for (const auto module : modules) {
// std::cout << "Found ID " << (int)module << std::endl;
// }
const auto robot_controller = std::make_shared<RobotController>();
robot_controller->fetchDirectlyConnectedModules(true);
std::this_thread::sleep_for(std::chrono::seconds(5));
// const auto function_tag = 3;
// const auto module = 99;
// std::string msg = "Hello world!";
// std::vector<uint8_t> parameters(msg.begin(), msg.end());
// auto maybe_return_value = messaging_interface->remote_call(function_tag, module, parameters);
std::vector<uint8_t> to_update{};
for (const auto& maybe_module : robot_controller->getModules()) {
if (const auto &module = maybe_module.lock()) {
if (module->get_leader() != module->get_device_id()) { continue; }
std::cout << "Updating module " << (int)module->get_device_id();
to_update.emplace_back(module->get_device_id());
}
}
// if (maybe_return_value) {
// auto return_value = std::move(*maybe_return_value);
// std::cout << "Got return value " << (char *)return_value->data() << std::endl;
// } else {
// std::cout << "Function call time out" << std::endl;
// }
//
if (to_update.size() < 1) {
std::cout << "No modules found to update" << std::endl;
return 0;
}
std::string filename =
"/Users/jslightham/Documents/Classes/capstone/firmware/build/firmware.bin";
const auto rm = std::make_unique<RemoteManagement>(99, filename, robot_controller);
rm->perform_ota();
"/Users/jslightham/Documents/Classes/capstone/firmware/build/firmware.bin";
std::vector<std::thread> threads;
for (int i = 0; i < to_update.size(); i++) {
threads.emplace_back(task, robot_controller, to_update[i], filename);
}
for (auto &t : threads) {
t.join();
}
return 0;
}