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Config manager fixes

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This commit is contained in:
Johnathon Slightham
2025-09-30 15:30:10 -04:00
parent 792f4a530a
commit 1ca488b7b9
17 changed files with 328 additions and 205 deletions
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27
components/rpc/CommunicationRouter.cpp
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@@ -1,16 +1,17 @@
#include "CommunicationRouter.h"
#include <AngleControlMessageBuilder.h>
#include <iostream>
#include "CommunicationRouter.h"
#include "AngleControlMessageBuilder.h"
#include "mDNSDiscoveryService.h"
#include "MPIMessageBuilder.h"
#include "WifiManager.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "Tables.h"
#include "PtrQueue.h"
#include "OrientationDetection.h"
#define TAG "CommunicationRouter"
CommunicationRouter::~CommunicationRouter() {
vTaskDelete(m_router_thread);
}
@@ -24,7 +25,7 @@ CommunicationRouter::~CommunicationRouter() {
while (true) {
const auto buffer = that->m_tcp_rx_queue->dequeue();
std::cout << "routing from tcp" << std::endl;
ESP_LOGD(TAG, "Got message from TCP");
that->route(buffer->data(), buffer->size());
}
}
@@ -35,10 +36,10 @@ CommunicationRouter::~CommunicationRouter() {
const auto channel = params->channel;
delete params;
char buffer[512];
size_t bytes_received = 0;
that->m_data_link_manager->start_receive_frames(channel);
while (true) {
char buffer[512];
// todo: very c style function calls
const auto err = that->m_data_link_manager->receive(reinterpret_cast<uint8_t *>(buffer), 512, &bytes_received, channel);
that->m_data_link_manager->start_receive_frames(channel);
@@ -46,7 +47,7 @@ CommunicationRouter::~CommunicationRouter() {
// todo: do we only want one thread ever doing this?
if (std::chrono::system_clock::now() - that->m_last_leader_updated > std::chrono::seconds(15)) {
that->m_last_leader_updated = std::chrono::system_clock::now();
std::cout << "Updating leader" << std::endl;
ESP_LOGI(TAG, "Updating leader");
that->update_leader();
}
@@ -54,12 +55,13 @@ CommunicationRouter::~CommunicationRouter() {
continue;
}
std::cout << "routing message from rmt" << std::endl;
ESP_LOGD(TAG, "Got message from RMT");
that->route(reinterpret_cast<uint8_t *>(buffer), bytes_received);
}
}
int CommunicationRouter::send_msg(char* buffer, const size_t length) const {
ESP_LOGD(TAG, "Got message from application");
route(reinterpret_cast<uint8_t *>(buffer), length);
return 0;
}
@@ -101,17 +103,16 @@ void CommunicationRouter::route(uint8_t* buffer, const size_t length) const {
const auto& mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer);
if (mpi_message->destination() == m_module_id) {
std::cout << "Routing to this module [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
ESP_LOGD(TAG, "Routing to this module [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
} else if (mpi_message->destination() == PC_ADDR && this->m_leader == m_module_id) {
std::cout << "Routing to wifi [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
ESP_LOGD(TAG, "Routing to wifi [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
this->m_tcp_server->send_msg(reinterpret_cast<char *>(buffer), 512);
} else if (mpi_message->destination() == PC_ADDR) {
std::cout << "Routing to wireline for wifi [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
ESP_LOGD(TAG, "Routing to wireline for wifi [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
this->m_data_link_manager->send(this->m_leader, buffer, length, FrameType::MOTOR_TYPE, 0);
}else {
std::cout << "Routing to wireline [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
ESP_LOGD(TAG, "Routing to wireline [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
this->m_data_link_manager->send(mpi_message->destination(), buffer, length, FrameType::MOTOR_TYPE, 0);
}
}