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RMT running in integration

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This commit is contained in:
Johnathon Slightham
2025-07-12 23:33:54 -04:00
parent a6b8b57a3b
commit 3d85ae97a6
6 changed files with 37 additions and 25 deletions
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32
components/rpc/CommunicationRouter.cpp
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@@ -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);