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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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8
components/rpc/include/CommunicationRouter.h
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@@ -36,17 +36,18 @@ public:
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_config_manager(ConfigManager::get_instance()),
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_data_link_manager(std::make_unique<DataLinkManager>(m_config_manager.get_module_id(), MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()])),
m_pc_connection(std::move(pc_connection)),
m_module_id(ConfigManager::get_module_id()),
m_module_id(m_config_manager.get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()){
OrientationDetection::init();
update_leader();
xTaskCreate(router_thread, "communication_router", 4096, this, 3, &this->m_router_thread);
const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_type()];
const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()];
this->m_link_layer_threads.resize(num_channels);
for (int i = 0; i < num_channels; i++) {
auto *params = new link_layer_thread_params(this, i);
@@ -73,6 +74,7 @@ public:
std::function<void(char*, int)> m_rx_callback;
private:
TaskHandle_t m_router_thread = nullptr;
ConfigManager &m_config_manager;
std::vector<TaskHandle_t> m_link_layer_threads;
std::unique_ptr<TCPServer> m_tcp_server; // todo: dependency injection
std::unique_ptr<DataLinkManager> m_data_link_manager;

8
components/rpc/include/MessagingInterface.h
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@@ -14,8 +14,9 @@
class MessagingInterface {
public:
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); }, std::move(pc_connection))),
: m_config_manager(ConfigManager::get_instance()),
m_mpi_rx_queue(xQueueCreate(MAX_RX_BUFFER_SIZE, RX_QUEUE_SIZE)),
m_router(std::make_unique<CommunicationRouter>([this](const char* buffer, const int size) { handleRecv(buffer, size); }, std::move(pc_connection))),
m_map_semaphore(xSemaphoreCreateMutex()) {};
~MessagingInterface();
@@ -31,7 +32,8 @@ private:
void checkOrInsertTag(uint8_t tag);
uint16_t sequence_number = 0;
ConfigManager& m_config_manager;
uint16_t m_sequence_number = 0;
QueueHandle_t m_mpi_rx_queue; // todo: maybe move this down classes more
std::unique_ptr<CommunicationRouter> m_router;
SemaphoreHandle_t m_map_semaphore;

29
components/rpc/include/WifiManager.h
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@@ -2,17 +2,27 @@
#define NETWORKMANAGER_H
#include <esp_netif_types.h>
#include <esp_event.h>
#include <esp_netif.h>
#include <esp_wifi.h>
#include <freertos/FreeRTOS.h>
#include <freertos/semphr.h>
#include "esp_event.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "ConfigManager.h"
#include "IWifiManager.h"
class WifiManager final : IWifiManager {
public:
WifiManager();
WifiManager() : m_config_manager(ConfigManager::get_instance()),
m_mutex(xSemaphoreCreateMutex()),
m_state(wifi_state::disconnected) {
esp_netif_init();
esp_wifi_set_storage(WIFI_STORAGE_RAM);
esp_event_loop_create_default();
// todo: move all task metadata to a constants/config file
xTaskCreate(reinterpret_cast<TaskFunction_t>(s_manage), "wifi_task", 3096, this, 5, &m_task);
}
~WifiManager() override;
int connect() override;
int disconnect() override;
@@ -31,11 +41,12 @@ private:
static void wifi_event_handler(void *event_handler_arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
ConfigManager& m_config_manager;
SemaphoreHandle_t m_mutex;
wifi_state m_state;
TaskHandle_t m_task;
unsigned int m_attempts;
esp_netif_t *m_netif;
TaskHandle_t m_task = nullptr;
unsigned int m_attempts = 0;
esp_netif_t *m_netif = nullptr;
};