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Servo control

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This commit is contained in:
Johnathon Slightham
2025-07-15 10:59:48 -04:00
parent 219467fc1a
commit 4b968c0544
20 changed files with 309 additions and 531 deletions
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6
components/rpc/CommunicationRouter.cpp
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@@ -1,5 +1,6 @@
#include "CommunicationRouter.h"
#include <AngleControlMessageBuilder.h>
#include <iostream>
#include "mDNSDiscoveryService.h"
#include "MPIMessageBuilder.h"
@@ -101,6 +102,11 @@ void CommunicationRouter::route(uint8_t* buffer, const size_t length) const {
if (mpi_message->destination() == m_module_id) {
std::cout << "Routing to this module [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
const auto temp = Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(reinterpret_cast<const uint8_t *>(mpi_message->payload()))->angle();
std::cout << "angle from before router" << temp << std::endl;
this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
} else if (mpi_message->destination() == PC_ADDR && this->m_leader == m_module_id) {
std::cout << "Routing to wifi [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;

7
components/rpc/MessagingInterface.cpp
View File

@@ -4,6 +4,7 @@
#include "MessagingInterface.h"
#include <AngleControlMessageBuilder.h>
#include <ConfigManager.h>
#include <freertos/queue.h>
#include <freertos/semphr.h>
@@ -53,7 +54,11 @@ void MessagingInterface::handleRecv(const char* recv_buffer, int recv_size) {
checkOrInsertTag(mpi_message->tag());
xQueueSendToBack(m_tag_to_queue.at(mpi_message->tag()), mpi_message->payload(), 0);
const auto temp = Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(reinterpret_cast<const uint8_t *>(mpi_message->payload()))->angle();
std::cout << "angle from before queue " << temp << std::endl;
xQueueSendToBack(m_tag_to_queue.at(mpi_message->tag()), mpi_message->payload()->data(), 0);
}
void MessagingInterface::checkOrInsertTag(const uint8_t tag) {