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This commit is contained in:
Johnathon Slightham
2025-10-16 21:24:41 -04:00
parent d69a5327de
commit 2d8bda2f83
7 changed files with 36 additions and 10 deletions
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8
components/flatbuffers/TopologyMessageBuilder.cpp
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@@ -10,7 +10,9 @@ namespace Flatbuffers {
const uint8_t module_id,
const ModuleType module_type,
const std::vector<uint8_t>& channel_to_module,
const std::vector<int8_t>& orientation_to_module) {
const std::vector<int8_t>& orientation_to_module,
const Messaging::ConnectionType connection_type,
const uint8_t leader) {
builder_.Clear();
const auto orientation_to_module_vector = builder_.CreateVector(orientation_to_module);
@@ -22,7 +24,9 @@ namespace Flatbuffers {
module_type,
channel_to_module.size(),
channel_to_module_vector,
orientation_to_module_vector
orientation_to_module_vector,
connection_type,
leader
);
builder_.Finish(message);

4
components/flatbuffers/include/TopologyMessageBuilder.h
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@@ -20,7 +20,9 @@ namespace Flatbuffers {
uint8_t module_id,
ModuleType module_type,
const std::vector<uint8_t>& channel_to_module,
const std::vector<int8_t>& orientation_to_module);
const std::vector<int8_t>& orientation_to_module,
Messaging::ConnectionType connection_type,
uint8_t leader);
private:
flatbuffers::FlatBufferBuilder builder_;

4
components/rpc/CommunicationRouter.cpp
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@@ -153,3 +153,7 @@ std::pair<std::vector<uint8_t>, std::vector<Orientation>> CommunicationRouter::g
return { connected_module_ids, connected_module_orientations };
}
[[nodiscard]] uint8_t CommunicationRouter::get_leader() const {
return this->m_leader;
}

11
components/rpc/MessagingInterface.cpp
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@@ -66,3 +66,14 @@ void MessagingInterface::checkOrInsertTag(const uint8_t tag) {
std::pair<std::vector<uint8_t>, std::vector<Orientation>> MessagingInterface::get_physically_connected_modules() const {
return m_router->get_physically_connected_modules();
}
Messaging::ConnectionType MessagingInterface::get_connection_type() const {
if (this->m_router->get_leader() == m_config_manager.get_module_id()) {
return Messaging::ConnectionType_DIRECT;
}
return Messaging::ConnectionType_HOP;
}
uint8_t MessagingInterface::get_leader() const {
return this->m_router->get_leader();
}

8
components/rpc/include/CommunicationRouter.h
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@@ -55,15 +55,11 @@ public:
[[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;
// pair of <module, mount orientation>
std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() const;
[[nodiscard]] std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() const;
[[nodiscard]] uint8_t get_leader() const;
// todo: does this really need to be here (so i can access from thread)?
std::shared_ptr<PtrQueue<std::vector<uint8_t>>> m_tcp_rx_queue;

3
components/rpc/include/MessagingInterface.h
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@@ -7,6 +7,7 @@
#include <memory>
#include <unordered_map>
#include <flatbuffers_generated/TopologyMessage_generated.h>
#include "constants/app_comms.h"
#include "CommunicationRouter.h"
@@ -26,6 +27,8 @@ public:
int recv(char* buffer, int size, int source, int tag);
int sendrecv(char* send_buffer, int send_size, int dest, int send_tag, char* recv_buffer, int recv_size, int recv_tag);
std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() const;
Messaging::ConnectionType get_connection_type() const;
uint8_t get_leader() const;
private:
void handleRecv(const char* recv_buffer, int recv_size);

8
main/LoopManager.cpp
View File

@@ -39,7 +39,13 @@
casted_orientations.emplace_back(orientation);
}
const auto [data, size] = topology_message_builder->build_topology_message(that->m_config_manager.get_module_id(), that->m_config_manager.get_module_type(), module_ids, casted_orientations);
const auto [data, size] = topology_message_builder->build_topology_message(
that->m_config_manager.get_module_id(),
that->m_config_manager.get_module_type(),
module_ids,
casted_orientations,
that->m_messaging_interface->get_connection_type(),
that->m_messaging_interface->get_leader());
that->m_messaging_interface->send(static_cast<char *>(data), size, PC_ADDR, TOPOLOGY_CMD_TAG, true);
vTaskDelay(METADATA_PERIOD_MS / portTICK_PERIOD_MS);
}