Integrate RPC with RMT

components/rpc/include/CommunicationRouter.h

@@ -5,39 +5,74 @@
 #ifndef COMMUNICATIONROUTER_H
 #define COMMUNICATIONROUTER_H
 
+#include <ConfigManager.h>
 #include <functional>
 #include <memory>
+#include <chrono>
+#include <WifiManager.h>
 
 #include "freertos/FreeRTOS.h"
-#include "freertos/queue.h"
 
 #include "TCPServer.h"
+#include "DataLinkManager.h"
 #include "constants/tcp.h"
-#include "constants/app_comms.h"
+#include "constants/module.h"
+
+#include"PtrQueue.h"
 
 class CommunicationRouter {
+
+    class link_layer_thread_params {
+    public:
+        link_layer_thread_params(CommunicationRouter* router, const uint8_t channel) : router(router), channel(channel) {};
+        CommunicationRouter *router;
+        uint8_t channel;
+    };
+
 public:
-    explicit CommunicationRouter(const std::function<void(char*, int)> &rx_callback)
-        : m_tcp_rx_queue(xQueueCreate(RX_QUEUE_SIZE, MAX_RX_BUFFER_SIZE)),
+    CommunicationRouter(const std::function<void(char*, int)> &rx_callback, std::unique_ptr<WifiManager>&& pc_connection)
+        : m_tcp_rx_queue(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
             m_rx_callback(rx_callback),
-            m_tcp_server(std::make_unique<TCPServer>(TCP_PORT, m_tcp_rx_queue)) {
+            m_tcp_server(std::make_unique<TCPServer>(TCP_PORT, m_tcp_rx_queue)),
+            m_data_link_manager(std::make_unique<DataLinkManager>(ConfigManager::get_module_id(), MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_type()])),
+            m_pc_connection(std::move(pc_connection)),
+            m_module_id(ConfigManager::get_module_id()),
+            m_last_leader_updated(std::chrono::system_clock::now()){
+        update_leader();
+
         xTaskCreate(router_thread, "communication_router", 2048, this, 3, &this->m_router_thread);
+
+        const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_type()];
+        this->m_link_layer_threads.resize(num_channels);
+        for (uint8_t i = 0; i < num_channels; i++) {
+            auto *params = new link_layer_thread_params(this, i);
+            xTaskCreate(link_layer_thread, "communication_router_rmt", 3096, params, 3, &this->m_link_layer_threads[i]);
+        }
     }
 
     ~CommunicationRouter();
 
     [[noreturn]] static void router_thread(void *args);
+    [[noreturn]] static void link_layer_thread(void *args);
 
     int send_msg(char* buffer, size_t length) const;
 
+    void update_leader();
+
+    void route(uint8_t *buffer, size_t length) const;
+
     // todo: does this really need to be here (so i can access from thread)?
-    QueueHandle_t m_tcp_rx_queue;
+    std::shared_ptr<PtrQueue<std::vector<uint8_t>>> m_tcp_rx_queue;
     std::function<void(char*, int)> m_rx_callback;
 private:
-
     TaskHandle_t m_router_thread;
+    std::vector<TaskHandle_t> m_link_layer_threads;
     std::unique_ptr<TCPServer> m_tcp_server;
-
+    std::unique_ptr<DataLinkManager> m_data_link_manager;
+    std::unique_ptr<WifiManager> m_pc_connection; // todo: change to dependency inject
+    uint8_t m_leader = 0;
+    uint8_t m_module_id;
+    std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
 };
 
 #endif //COMMUNICATIONROUTER_H

components/rpc/include/MessagingInterface.h

@@ -7,14 +7,15 @@
 
 #include <memory>
 #include <unordered_map>
+#include <constants/app_comms.h>
 
 #include "CommunicationRouter.h"
 
 class MessagingInterface {
 public:
-    MessagingInterface()
+    explicit MessagingInterface(std::unique_ptr<WifiManager>&& pc_connection)
         : m_mpi_rx_queue(xQueueCreate(MAX_RX_BUFFER_SIZE, RX_QUEUE_SIZE)),
-            m_router(std::make_unique<CommunicationRouter>([this](char* buffer, const int size) { handleRecv(buffer, size); })),
+            m_router(std::make_unique<CommunicationRouter>([this](char* buffer, const int size) { handleRecv(buffer, size); }, std::move(pc_connection))),
             m_map_semaphore(xSemaphoreCreateMutex()) {};
 
     ~MessagingInterface();

components/rpc/include/TCPServer.h

@@ -5,6 +5,7 @@
 #ifndef TCPSERVER_H
 #define TCPSERVER_H
 
+#include <memory>
 #include <vector>
 #include <unordered_set>
 
@@ -12,9 +13,11 @@
 
 #include "IRPCServer.h"
 
+#include "PtrQueue.h"
+
 class TCPServer : IRPCServer {
 public:
-    TCPServer(int port, QueueHandle_t rx_queue);
+    TCPServer(int port, const std::shared_ptr<PtrQueue<std::vector<uint8_t>>>& rx_queue);
     ~TCPServer();
     int send_msg(char* buffer, size_t length) const;
 
@@ -31,7 +34,7 @@ private:
     TaskHandle_t m_task;
     TaskHandle_t m_rx_task;
 
-    QueueHandle_t m_rx_queue;
+    std::shared_ptr<PtrQueue<std::vector<uint8_t>>> m_rx_queue;
 
     SemaphoreHandle_t m_mutex;
     std::unordered_set<int> m_clients;

components/rpc/include/mDNSDiscoveryService.h

@@ -5,12 +5,15 @@
 #ifndef DISCOVERYSERVICE_H
 #define DISCOVERYSERVICE_H
 
+#include <vector>
+
 class mDNSDiscoveryService final {
 public:
     mDNSDiscoveryService() = delete;
     ~mDNSDiscoveryService() = delete;
 
     static void setup();
+    static void set_connected_boards(const std::vector<int>& boards);
 };
 
 #endif //DISCOVERYSERVICE_H