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Allow multiple robots on the same network (#5)

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* Support multiple bots on the same network

* Bulk OTa

* Bugfixes
This commit is contained in:
Johnathon Slightham
2026-03-11 01:41:30 -04:00
committed by GitHub
parent eca875a791
commit e30eb39187
13 changed files with 105 additions and 32 deletions
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30
examples/rpc_call/main.cpp
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@@ -3,6 +3,7 @@
#include <cstring>
#include <format>
#include <iostream>
#include <random>
#include <thread>
#include <vector>
@@ -10,19 +11,27 @@
#include "rpc/RemoteManagement.h"
void progress_monitor_task(std::shared_ptr<RemoteManagement> rm, uint8_t module_id) {
std::random_device dev;
std::mt19937 rng(dev());
std::uniform_int_distribution<std::mt19937::result_type> dist6(10, 100);
std::cout << dist6(rng) << std::endl;
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;
std::this_thread::sleep_for(std::chrono::milliseconds(5000 + dist6(rng)));
std::cout << "Module " << (int)module_id << ": " << rm->ota_progress() * 100 << "% complete"
<< std::endl;
if (rm->ota_progress() >= 1.0)
return;
}
}
void task(std::shared_ptr<RobotController> controller, uint8_t module_id, const std::string& filepath) {
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";
std::cout << "Done updating " << (int)module_id << std::endl;
}
int main() {
@@ -31,10 +40,12 @@ int main() {
std::this_thread::sleep_for(std::chrono::seconds(5));
std::vector<uint8_t> to_update{};
for (const auto& maybe_module : robot_controller->getModules()) {
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();
if (module->get_leader() != module->get_device_id()) {
continue;
}
std::cout << "Updating module " << (int)module->get_device_id() << std::endl;
to_update.emplace_back(module->get_device_id());
}
}
@@ -44,8 +55,7 @@ int main() {
return 0;
}
std::string filename =
"/Users/jslightham/Documents/Classes/capstone/firmware/build/firmware.bin";
std::string filename = "/home/jslightham/Documents/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);