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This commit is contained in:
Johnathon Slightham
2025-07-05 18:27:13 -04:00
parent d507a27c0b
commit 3bc92ac6f3
6 changed files with 21 additions and 11 deletions
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4
components/config/ConfigManager.cpp
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@@ -14,12 +14,12 @@ void ConfigManager::init_config() {
nvs_open(NVS_FLASH_NAMESPACE, NVS_READWRITE, &config_handle); nvs_open(NVS_FLASH_NAMESPACE, NVS_READWRITE, &config_handle);
uint16_t id; uint16_t id;
if (ESP_ERR_NVS_NOT_FOUND == nvs_get_u16(config_handle, "id", &id)) { if (ESP_ERR_NVS_NOT_FOUND == nvs_get_u16(config_handle, MODULE_ID_KEY, &id)) {
nvs_set_u16(config_handle, MODULE_ID_KEY, DEFAULT_MODULE_ID); nvs_set_u16(config_handle, MODULE_ID_KEY, DEFAULT_MODULE_ID);
} }
uint16_t type; uint16_t type;
if (ESP_ERR_NVS_NOT_FOUND == nvs_get_u16(config_handle, "id", &type)) { if (ESP_ERR_NVS_NOT_FOUND == nvs_get_u16(config_handle, MODULE_TYPE_KEY, &type)) {
nvs_set_u16(config_handle, MODULE_TYPE_KEY, DEFAULT_MODULE_TYPE); nvs_set_u16(config_handle, MODULE_TYPE_KEY, DEFAULT_MODULE_TYPE);
} }

5
components/rpc/TCPServer.cpp
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@@ -18,13 +18,12 @@
// todo: - add message routing to correct client // todo: - add message routing to correct client
// - authenticate (don't just return true from the auth function) // - authenticate (don't just return true from the auth function)
// - tx from board
TCPServer::TCPServer(const int port) { TCPServer::TCPServer(const int port) {
this->m_port = port; this->m_port = port;
this->m_mutex = xSemaphoreCreateMutex(); this->m_mutex = xSemaphoreCreateMutex();
this->m_clients = std::unordered_set<int>(); this->m_clients = std::unordered_set<int>();
this->m_task = nullptr; this->m_task = nullptr;
this->m_rx_task = nullptr; this->m_rx_task = nullptr;
this->m_tx_task = nullptr; this->m_tx_task = nullptr;
@@ -153,7 +152,7 @@ TCPServer::~TCPServer() {
close(sock); close(sock);
to_remove.emplace_back(sock); to_remove.emplace_back(sock);
} else { } else {
// todo: send to rx queue // todo: send to rx queue instead of printing
buffer[len] = 0; // temp: Null-terminate whatever is received and treat it like a string buffer[len] = 0; // temp: Null-terminate whatever is received and treat it like a string
printf("TCP Server Received %d bytes: %s\n", len, buffer); printf("TCP Server Received %d bytes: %s\n", len, buffer);
} }

2
components/rpc/WifiManager.cpp
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@@ -104,10 +104,10 @@ int WifiManager::init_connection() {
} }
}; };
esp_wifi_set_mode(WIFI_MODE_STA);
esp_wifi_set_config(static_cast<wifi_interface_t>(ESP_IF_WIFI_STA), &wifi_configuration); esp_wifi_set_config(static_cast<wifi_interface_t>(ESP_IF_WIFI_STA), &wifi_configuration);
esp_wifi_start(); esp_wifi_start();
esp_wifi_set_mode(WIFI_MODE_STA);
esp_wifi_connect(); esp_wifi_connect();
return 0; return 0;

7
components/rpc/include/mDNSDiscoveryService.h
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@@ -5,9 +5,12 @@
#ifndef DISCOVERYSERVICE_H #ifndef DISCOVERYSERVICE_H
#define DISCOVERYSERVICE_H #define DISCOVERYSERVICE_H
class mDNSDiscoveryService { class mDNSDiscoveryService final {
public: public:
mDNSDiscoveryService(); mDNSDiscoveryService() = delete;
~mDNSDiscoveryService() = delete;
static void setup();
}; };
#endif //DISCOVERYSERVICE_H #endif //DISCOVERYSERVICE_H

12
components/rpc/mDNSDiscoveryService.cpp
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@@ -13,12 +13,20 @@
#include <string> #include <string>
#include <format> #include <format>
// todo: clean this up (strange to be a constructor) also need to add more details // todo: clean this up (strange to be a constructor) also need to add more details, need to add to routing table
mDNSDiscoveryService::mDNSDiscoveryService() { void mDNSDiscoveryService::setup() {
mdns_init(); mdns_init();
mdns_hostname_set(std::format("botchain-{}", ConfigManager::get_module_id()).c_str()); mdns_hostname_set(std::format("botchain-{}", ConfigManager::get_module_id()).c_str());
mdns_instance_name_set(std::format("BotChain Robot Module {}", ConfigManager::get_module_id()).c_str()); mdns_instance_name_set(std::format("BotChain Robot Module {}", ConfigManager::get_module_id()).c_str());
mdns_service_add(nullptr, "_robotcontrol", "_tcp", TCP_PORT, nullptr, 0); mdns_service_add(nullptr, "_robotcontrol", "_tcp", TCP_PORT, nullptr, 0);
mdns_service_instance_name_set("_robotcontrol", "_tcp", "Robot Control TCP Server"); mdns_service_instance_name_set("_robotcontrol", "_tcp", "Robot Control TCP Server");
mdns_txt_item_t service_txt_data[3] = {
{"module_id",std::to_string(ConfigManager::get_module_id()).c_str()},
{"module_type",std::to_string(ConfigManager::get_module_type()).c_str()},
{"connected_modules","2,3,4,5,6,7,8,9"},
};
mdns_service_txt_set("_robotcontrol", "_tcp", service_txt_data, 3);
} }

2
main/main.cpp
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@@ -17,7 +17,7 @@ extern "C" [[noreturn]] void app_main(void) {
const auto manager = std::make_unique<WifiManager>(); const auto manager = std::make_unique<WifiManager>();
manager->connect(); manager->connect();
const auto discovery = std::make_unique<mDNSDiscoveryService>(); mDNSDiscoveryService::setup();
const auto tcp_server = std::make_unique<TCPServer>(TCP_PORT); const auto tcp_server = std::make_unique<TCPServer>(TCP_PORT);