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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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2
include/Module.h
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@@ -61,7 +61,7 @@ class Module {
uint8_t m_device_id;
ModuleType m_module_type;
Messaging::ConnectionType m_connection_type;
uint8_t m_leader;
std::atomic<uint8_t> m_leader{0};
std::chrono::time_point<std::chrono::system_clock> m_last_updated;
std::vector<neighbour> m_neighbours;
std::shared_ptr<MessagingInterface> m_messaging_interface;

6
include/actuators/Actuator.h
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@@ -10,13 +10,13 @@
class Actuator : public Module {
public:
explicit Actuator(uint8_t device_id) : Module(device_id) {};
explicit Actuator(uint8_t device_id) : Module(device_id){};
Actuator(uint8_t device_id, ModuleType module_type) : Module(device_id, module_type) {};
Actuator(uint8_t device_id, ModuleType module_type) : Module(device_id, module_type){};
Actuator(uint8_t device_id, ModuleType module_type, Messaging::ConnectionType connection_type,
uint8_t leader)
: Module(device_id, module_type, connection_type, leader) {};
: Module(device_id, module_type, connection_type, leader){};
protected:
virtual std::vector<uint8_t> get_actuation_message() = 0;

2
include/actuators/PositionalActuator1D.h
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@@ -16,7 +16,7 @@ class PositionalActuator1D final : public Actuator {
public:
PositionalActuator1D(uint8_t device_id, ModuleType type)
: Actuator(device_id, type),
m_acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {};
m_acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()){};
double get_position() override;
void actuate(double position) override;

1
include/flatbuffers/RobotConfigurationBuilder.h
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@@ -15,6 +15,7 @@ struct ModuleInstance {
uint8_t id;
ModuleType type;
int angle;
uint8_t leader;
};
struct ModuleConnectionInstance {

3
include/lib_c_control.h
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@@ -19,7 +19,8 @@ LIB_API void cleanup();
LIB_API int send_angle_control(int module_id, int angle);
LIB_API int send_string_control(int module_id, const char *string);
LIB_API double get_distance_control(int module_id);
LIB_API char *get_configuration(int *size_out);
LIB_API char *get_configuration(int *size_out, int leader_id);
LIB_API const uint8_t *get_leaders(int *length);
LIB_API bool remote_call_c(uint8_t function_tag, uint8_t module, const uint8_t *params,
uint16_t params_len, uint8_t *out_buffer, uint16_t out_buffer_capacity,

6
include/libcontrol.h
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@@ -93,6 +93,9 @@ class RobotController {
*/
void resetModules();
bool select_leader(uint8_t leader_id);
std::vector<uint8_t> get_leaders();
/**
* \brief Poll for devices accessible to the PC.
*
@@ -103,6 +106,8 @@ class RobotController {
std::optional<std::unique_ptr<std::vector<uint8_t>>>
remote_call(uint8_t function_tag, uint8_t module, const std::vector<uint8_t> &parameters);
uint8_t get_selected_leader();
private:
std::shared_ptr<spdlog::logger> m_logger;
std::unordered_map<uint8_t, std::shared_ptr<Module>> m_id_to_module{};
@@ -118,6 +123,7 @@ class RobotController {
std::thread m_configuration_loop;
std::thread m_sensor_loop;
std::thread m_expiry_looop;
std::atomic<uint8_t> m_selected_leader{0};
void metadata_loop();
void transmit_loop();