RMT running in integration

components/config/ConfigManager.cpp

@@ -26,6 +26,7 @@ void ConfigManager::init_config() {
     nvs_close(config_handle);
 }
 
+// todo: we should probably cache some of these things
 uint16_t ConfigManager::get_module_id() {
     nvs_handle config_handle;
     nvs_open(NVS_FLASH_NAMESPACE, NVS_READONLY, &config_handle);

components/rpc/CommunicationRouter.cpp

@@ -1,9 +1,9 @@
 #include "CommunicationRouter.h"
 
-#include <ConfigManager.h>
 #include <iostream>
-#include <mDNSDiscoveryService.h>
-#include <MPIMessageBuilder.h>
+#include "mDNSDiscoveryService.h"
+#include "MPIMessageBuilder.h"
+#include "WifiManager.h"
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/queue.h"
@@ -49,9 +49,13 @@ CommunicationRouter::~CommunicationRouter() {
     that->m_data_link_manager->start_receive_frames(channel);
     while (true) {
         // todo: very c style function calls
-        that->m_data_link_manager->receive(reinterpret_cast<uint8_t *>(buffer), 512, &bytes_received, channel);
+        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);
 
+        if (ESP_OK != err) {
+            continue;
+        }
+
         that->route(reinterpret_cast<uint8_t *>(buffer), bytes_received);
 
         std::cout << "RMT callback" << std::endl;
@@ -63,14 +67,15 @@ int CommunicationRouter::send_msg(char* buffer, const size_t length) const {
     return 0;
 }
 
+// todo: the number of things this is doing in so many different places is crazy...
 void CommunicationRouter::update_leader() {
     RIPRow_public table[RIP_MAX_ROUTES];
-    size_t table_size = 0;
+    size_t table_size = RIP_MAX_ROUTES;
     this->m_data_link_manager->get_routing_table(table, &table_size);
 
     // Leader election (just get the highest id in rip)
     std::vector<int> connected_module_ids;
-    uint8_t max = ConfigManager::get_module_id();
+    uint8_t max = m_module_id;
     for (int i = 0; i < table_size; i++) {
         const auto id = table[i].info.board_id;
         connected_module_ids.emplace_back(id);
@@ -79,17 +84,28 @@ void CommunicationRouter::update_leader() {
         }
     }
 
+    // Leader has changed, we may need to change PC connection state
+    if (this->m_leader != max) {
+        if (max == m_module_id) {
+            m_pc_connection->connect();
+        } else if (this->m_leader == m_module_id) {
+            m_pc_connection->disconnect();
+        }
+    }
+
     this->m_leader = max;
 
     mDNSDiscoveryService::set_connected_boards(connected_module_ids);
+
+    this->m_last_leader_updated = std::chrono::system_clock::now();
 }
 
 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() == ConfigManager::get_module_id()) {
+    if (mpi_message->destination() == m_module_id) {
         this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
-    } else if (mpi_message->destination() == PC_ADDR && this->m_leader == ConfigManager::get_module_id()) {
+    } else if (mpi_message->destination() == PC_ADDR && this->m_leader == m_module_id) {
         this->m_tcp_server->send_msg(reinterpret_cast<char *>(buffer), 512);
     } else {
         this->m_data_link_manager->send(mpi_message->destination(), buffer, length, FrameType::MOTOR_TYPE, 0);

components/rpc/include/CommunicationRouter.h

@@ -9,6 +9,7 @@
 #include <functional>
 #include <memory>
 #include <chrono>
+#include <WifiManager.h>
 
 #include "freertos/FreeRTOS.h"
 
@@ -29,21 +30,23 @@ class CommunicationRouter {
     };
 
 public:
-    explicit CommunicationRouter(const std::function<void(char*, int)> &rx_callback)
+    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_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_pc_connection(std::move(pc_connection)),
             m_module_id(ConfigManager::get_module_id()),
             m_last_leader_updated(std::chrono::system_clock::now()){
         update_leader();
 
         xTaskCreate(router_thread, "communication_router", 2048, this, 3, &this->m_router_thread);
 
-        const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_id()];
+        const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_type()];
         this->m_link_layer_threads.resize(num_channels);
         for (uint8_t i = 0; i < num_channels; i++) {
             auto *params = new link_layer_thread_params(this, i);
-            xTaskCreate(link_layer_thread, "communication_router_rmt", 2048, &params, 3, &this->m_link_layer_threads[i]);
+            xTaskCreate(link_layer_thread, "communication_router_rmt", 3096, params, 3, &this->m_link_layer_threads[i]);
         }
     }
 
@@ -66,7 +69,8 @@ private:
     std::vector<TaskHandle_t> m_link_layer_threads;
     std::unique_ptr<TCPServer> m_tcp_server;
     std::unique_ptr<DataLinkManager> m_data_link_manager;
-    uint8_t m_leader;
+    std::unique_ptr<WifiManager> m_pc_connection; // todo: change to dependency inject
+    uint8_t m_leader = 0;
     uint8_t m_module_id;
     std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
 };

components/rpc/include/MessagingInterface.h

@@ -13,9 +13,9 @@
 
 class MessagingInterface {
 public:
-    MessagingInterface()
+    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); })),
+            m_router(std::make_unique<CommunicationRouter>([this](char* buffer, const int size) { handleRecv(buffer, size); }, std::move(pc_connection))),
             m_map_semaphore(xSemaphoreCreateMutex()) {};
 
     ~MessagingInterface();