OTA + remote logging + profiling

components/constants/include/constants/app_comms.h

@@ -9,12 +9,12 @@
 #define RPC_CALL_ENQUEUE_TIMEOUT_MS 250
 #define RPC_CALL_DEQUEUE_TIMEOUT_MS 3000
 #define RPC_CALL_THREAD_POOL_SIZE 3
-#define RPC_CALL_PARAMETERS_MAX_SIZE 512
+#define RPC_CALL_PARAMETERS_MAX_SIZE 1152
 
 #define RX_QUEUE_SIZE 4
-#define MAX_RX_BUFFER_SIZE 512
+#define MAX_RX_BUFFER_SIZE 1152
 
 #define MPI_QUEUE_SIZE 4
-#define MAX_MPI_BUFFER_SIZE 512
+#define MAX_MPI_BUFFER_SIZE 1152
 
 #endif //APP_COMMS_H

components/flatbuffers/CMakeLists.txt

@@ -1,2 +1,2 @@
-idf_component_register(SRCS "MPIMessageBuilder.cpp" "AngleControlMessageBuilder.cpp" "TopologyMessageBuilder.cpp" "SensorMessageBuilder.cpp" "TextControlMessageBuilder.cpp" "CallBuilder.cpp"
+idf_component_register(SRCS "MPIMessageBuilder.cpp" "AngleControlMessageBuilder.cpp" "TopologyMessageBuilder.cpp" "SensorMessageBuilder.cpp" "TextControlMessageBuilder.cpp" "CallBuilder.cpp" "OTAPacketBuilder.cpp"
         INCLUDE_DIRS "include")

components/flatbuffers/OTAPacketBuilder.cpp

@@ -0,0 +1,10 @@
+
+#include "OTAPacketBuilder.h"
+
+namespace Flatbuffers {
+
+const Messaging::OTAPacket *OTAPacketBuilder::parse_ota_packet(const uint8_t *buffer) {
+    return flatbuffers::GetRoot<Messaging::OTAPacket>(buffer);
+}
+
+} // namespace Flatbuffers

components/flatbuffers/include/OTAPacketBuilder.h

@@ -0,0 +1,20 @@
+
+
+#ifndef OTAPACKETUILDER_H
+#define OTAPACKETBUILDER_H
+
+#include <vector>
+
+#include "flatbuffers/flatbuffers.h"
+#include "flatbuffers_generated/OTAPacket_generated.h"
+
+namespace Flatbuffers {
+
+class OTAPacketBuilder{
+  public:
+    OTAPacketBuilder() {}
+    static const Messaging::OTAPacket *parse_ota_packet(const uint8_t *buffer);
+};
+} // namespace Flatbuffers
+
+#endif // OTAPACKETBUILDER_H

components/flatbuffers/include/flatbuffers_generated/OTAPacket_generated.h

@@ -0,0 +1,128 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+
+#ifndef FLATBUFFERS_GENERATED_OTAPACKET_MESSAGING_H_
+#define FLATBUFFERS_GENERATED_OTAPACKET_MESSAGING_H_
+
+#include "flatbuffers/flatbuffers.h"
+
+// Ensure the included flatbuffers.h is the same version as when this file was
+// generated, otherwise it may not be compatible.
+// static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
+//               FLATBUFFERS_VERSION_MINOR == 2 &&
+//               FLATBUFFERS_VERSION_REVISION == 10,
+//              "Non-compatible flatbuffers version included");
+
+namespace Messaging {
+
+struct OTAPacket;
+struct OTAPacketBuilder;
+
+struct OTAPacket FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
+  typedef OTAPacketBuilder Builder;
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_SEQUENCE_NUMBER = 4,
+    VT_LENGTH = 6,
+    VT_PAYLOAD = 8
+  };
+  uint16_t sequence_number() const {
+    return GetField<uint16_t>(VT_SEQUENCE_NUMBER, 0);
+  }
+  uint16_t length() const {
+    return GetField<uint16_t>(VT_LENGTH, 0);
+  }
+  const ::flatbuffers::Vector<uint8_t> *payload() const {
+    return GetPointer<const ::flatbuffers::Vector<uint8_t> *>(VT_PAYLOAD);
+  }
+  bool Verify(::flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyField<uint16_t>(verifier, VT_SEQUENCE_NUMBER, 2) &&
+           VerifyField<uint16_t>(verifier, VT_LENGTH, 2) &&
+           VerifyOffset(verifier, VT_PAYLOAD) &&
+           verifier.VerifyVector(payload()) &&
+           verifier.EndTable();
+  }
+};
+
+struct OTAPacketBuilder {
+  typedef OTAPacket Table;
+  ::flatbuffers::FlatBufferBuilder &fbb_;
+  ::flatbuffers::uoffset_t start_;
+  void add_sequence_number(uint16_t sequence_number) {
+    fbb_.AddElement<uint16_t>(OTAPacket::VT_SEQUENCE_NUMBER, sequence_number, 0);
+  }
+  void add_length(uint16_t length) {
+    fbb_.AddElement<uint16_t>(OTAPacket::VT_LENGTH, length, 0);
+  }
+  void add_payload(::flatbuffers::Offset<::flatbuffers::Vector<uint8_t>> payload) {
+    fbb_.AddOffset(OTAPacket::VT_PAYLOAD, payload);
+  }
+  explicit OTAPacketBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  ::flatbuffers::Offset<OTAPacket> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = ::flatbuffers::Offset<OTAPacket>(end);
+    return o;
+  }
+};
+
+inline ::flatbuffers::Offset<OTAPacket> CreateOTAPacket(
+    ::flatbuffers::FlatBufferBuilder &_fbb,
+    uint16_t sequence_number = 0,
+    uint16_t length = 0,
+    ::flatbuffers::Offset<::flatbuffers::Vector<uint8_t>> payload = 0) {
+  OTAPacketBuilder builder_(_fbb);
+  builder_.add_payload(payload);
+  builder_.add_length(length);
+  builder_.add_sequence_number(sequence_number);
+  return builder_.Finish();
+}
+
+inline ::flatbuffers::Offset<OTAPacket> CreateOTAPacketDirect(
+    ::flatbuffers::FlatBufferBuilder &_fbb,
+    uint16_t sequence_number = 0,
+    uint16_t length = 0,
+    const std::vector<uint8_t> *payload = nullptr) {
+  auto payload__ = payload ? _fbb.CreateVector<uint8_t>(*payload) : 0;
+  return Messaging::CreateOTAPacket(
+      _fbb,
+      sequence_number,
+      length,
+      payload__);
+}
+
+inline const Messaging::OTAPacket *GetOTAPacket(const void *buf) {
+  return ::flatbuffers::GetRoot<Messaging::OTAPacket>(buf);
+}
+
+inline const Messaging::OTAPacket *GetSizePrefixedOTAPacket(const void *buf) {
+  return ::flatbuffers::GetSizePrefixedRoot<Messaging::OTAPacket>(buf);
+}
+
+inline bool VerifyOTAPacketBuffer(
+    ::flatbuffers::Verifier &verifier) {
+  return verifier.VerifyBuffer<Messaging::OTAPacket>(nullptr);
+}
+
+inline bool VerifySizePrefixedOTAPacketBuffer(
+    ::flatbuffers::Verifier &verifier) {
+  return verifier.VerifySizePrefixedBuffer<Messaging::OTAPacket>(nullptr);
+}
+
+inline void FinishOTAPacketBuffer(
+    ::flatbuffers::FlatBufferBuilder &fbb,
+    ::flatbuffers::Offset<Messaging::OTAPacket> root) {
+  fbb.Finish(root);
+}
+
+inline void FinishSizePrefixedOTAPacketBuffer(
+    ::flatbuffers::FlatBufferBuilder &fbb,
+    ::flatbuffers::Offset<Messaging::OTAPacket> root) {
+  fbb.FinishSizePrefixed(root);
+}
+
+}  // namespace Messaging
+
+#endif  // FLATBUFFERS_GENERATED_OTAPACKET_MESSAGING_H_

components/rpc/include/MessagingInterface.h

@@ -48,7 +48,7 @@ public:
                 xTaskCreate(handleRecvCall, "rpc_rx", 3072, this, 5, &m_handle_recv_call_task);
                 m_thread_pool.resize(RPC_CALL_THREAD_POOL_SIZE);
                 for (int i = 0; i < RPC_CALL_THREAD_POOL_SIZE; i++) {
-                     xTaskCreate(processRPCCall, "rpc_thread", 3072, this, 5, &m_thread_pool[i]);
+                     xTaskCreate(processRPCCall, "rpc_thread", 4096, this, 5, &m_thread_pool[i]);
                 }
             };