botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

UDP implementation

Browse Source
This commit is contained in:
Johnathon Slightham
2026-01-06 14:02:56 -05:00
committed by Johnathon Slightham
parent 92ddc3faf9
commit 53d3c775ba
12 changed files with 388 additions and 86 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
components/rpc/include/CommunicationRouter.h
View File

@@ -37,6 +37,7 @@ public:
m_config_manager(ConfigManager::get_instance()),
m_pc_connection(CommunicationFactory::create_connection_manager(m_config_manager.get_communication_method())),
m_lossless_server(CommunicationFactory::create_lossless_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_lossy_server(CommunicationFactory::create_lossy_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_data_link_manager(std::make_unique<DataLinkManager>(m_config_manager.get_module_id(), MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()])),
m_module_id(m_config_manager.get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()),
@@ -44,14 +45,14 @@ public:
OrientationDetection::init();
update_leader();
xTaskCreate(router_thread, "communication_router", 4096, this, 3, &this->m_router_thread);
xTaskCreate(router_thread, "router", 4096, this, 3, &this->m_router_thread);
const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()];
this->m_link_layer_threads.resize(num_channels);
for (int i = 0; i < num_channels; i++) {
auto *params = new link_layer_thread_params(this, i);
xTaskCreate(link_layer_thread, "communication_router_rmt", 4096, params, 3, &this->m_link_layer_threads[i]);
}
// const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()];
// this->m_link_layer_threads.resize(num_channels);
// for (int i = 0; i < num_channels; i++) {
// auto *params = new link_layer_thread_params(this, i);
// xTaskCreate(link_layer_thread, "router_rmt", 4096, params, 3, &this->m_link_layer_threads[i]);
// }
}
~CommunicationRouter();
@@ -65,7 +66,7 @@ public:
[[nodiscard]] uint8_t get_leader() const;
// todo: does this really need to be here (so i can access from thread)?
std::shared_ptr<PtrQueue<std::vector<uint8_t>>> m_tcp_rx_queue;
std::shared_ptr<PtrQueue<std::vector<uint8_t>>> m_tcp_rx_queue; // todo: this should probably be thread safe
std::function<void(char*, int)> m_rx_callback;
private:
TaskHandle_t m_router_thread = nullptr;
@@ -73,6 +74,7 @@ private:
std::unique_ptr<IConnectionManager> m_pc_connection;
std::vector<TaskHandle_t> m_link_layer_threads;
std::unique_ptr<IRPCServer> m_lossless_server;
std::unique_ptr<IRPCServer> m_lossy_server;
std::unique_ptr<DataLinkManager> m_data_link_manager;
uint8_t m_leader = 0;
uint8_t m_module_id;