updates to topology with flatbuffers

main/README.md

@@ -12,6 +12,8 @@ To run the sample code, add the compiler variable `RMT_TEST=1` when compiling: `
 
 With `main_rmt_test.cpp`, flash one or more boards, ensuring that `BOARD_ID` are unique and `RECEIVER_BOARD_ID` is a board that exists and is connected on the same network.
 
+Please note that `SRC_BOARD` and `RECEIVER_BOARD` should be an 8 bit value (that is not 0x0 or 0xFF).
+
 ### Example Usage:
 
 Board A: `idf.py -B ./build_A build -D SRC_BOARD=1 -D RECEIVER_BOARD=69 -D RMT_TEST=1 flash monitor -p COM3`
@@ -32,6 +34,14 @@ When monitoring both boards, you should see `Received message '%.*s' on channel
 
 The specific message being sent can vary depending on the setup (determined at compile time). Simply changing the `snprintf` on the `send_buf` and/or `FrameType` argument of `send()` will change the message/frames being sent (from the perspective of the user).
 
+# Preprogrammed Movements Sample Code
+
+See `main_preprogrammed_test.cpp`.
+
+To run the sample code, add the compiler variable `PP_MOVE=1` when compiling. 
+
+You can use the `SRC_BOARD` compiler variable to set a custom board id.
+
 # cat
 
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main/main.cpp

@@ -1,4 +1,4 @@
-#if !defined(RMT_TEST) || (defined(RMT_TEST) && RMT_TEST == 0)
+#if (!defined(RMT_TEST) || (defined(RMT_TEST) && RMT_TEST == 0)) && (!defined(PP_MOVE) || (defined(PP_MOVE) && PP_MOVE == 0))
 // #include <cstdio>
 // #include <memory>
 

main/main_preprogrammed_test.cpp

@@ -0,0 +1,48 @@
+#if (defined(RMT_TEST) && RMT_TEST == 0) && (!defined(PP_MOVE) || (defined(PP_MOVE) && PP_MOVE == 1))
+#include <cstdio>
+#include <memory>
+
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_flash.h"
+#include "nvs_flash.h"
+
+#include "constants/datalink.h"
+#include "TopologyManager.h"
+
+#include <esp_netif.h>
+#include <esp_event.h>
+#include <freertos/semphr.h>
+#include "driver/gptimer.h"
+#include "esp_log.h"
+
+#if !defined(SRC_BOARD)
+const uint8_t BOARD_ID = 1;
+#else
+const uint8_t BOARD_ID = SRC_BOARD
+#endif
+
+extern "C" [[noreturn]] void app_main(void) {
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+
+    esp_netif_init();
+    esp_event_loop_create_default();
+
+    printf("finished esp init\n");
+
+    printf("Hello world!\n");
+
+    TopologyManager obj = TopologyManager();
+    
+    while(true){
+        //do nothing
+        vTaskDelay(1000 /    portTICK_PERIOD_MS);
+    }
+}
+#endif

main/main_rmt_test.cpp

@@ -1,4 +1,4 @@
-#if defined(RMT_TEST) && RMT_TEST == 1
+#if (defined(RMT_TEST) && RMT_TEST == 1) && (!defined(PP_MOVE) || (defined(PP_MOVE) && PP_MOVE == 0))
 //Used for link layer testing (change name to main.cpp to use)
 #include <cstdio>
 #include <memory>