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Fix RIP bugs, add in UART

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This commit is contained in:
Johnathon Slightham
2026-03-31 14:26:37 -04:00
committed by Johnathon Slightham
parent d4602012f1
commit 548e8db484
26 changed files with 704 additions and 434 deletions
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99
components/dataLink/DataLinkRIP.cpp
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@@ -27,6 +27,7 @@ void DataLinkManager::init_rip(){
rip_table[0].info = {
.board_id = this_board_id,
.hops = 0,
.sum_of_hops = 0,
};
rip_table[0].channel = MAX_CHANNELS + 1;
rip_table[0].ttl = RIP_TTL_START;
@@ -37,7 +38,7 @@ void DataLinkManager::init_rip(){
start_rip_tasks();
}
esp_err_t DataLinkManager::rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t channel, RIPRow** entry){
esp_err_t DataLinkManager::rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t sum_of_hops, uint8_t channel, RIPRow** entry){
if (entry == nullptr){
return ESP_FAIL;
}
@@ -49,16 +50,16 @@ esp_err_t DataLinkManager::rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t
(*entry)->channel = channel;
(*entry)->info = {
.board_id = board_id,
.hops = hops
.hops = hops,
.sum_of_hops = sum_of_hops,
};
(*entry)->ttl = RIP_TTL_START;
(*entry)->valid = 1;
// ESP_LOGI(DEBUG_LINK_TAG, "board_id %d now has hops %d from channel %d", (*entry)->info.board_id, (*entry)->info.hops, channel);
xSemaphoreGive((*entry)->row_sem);
rip_update_self_sum_of_hops();
if (uxQueueMessagesWaiting(manual_broadcasts) == 0){
bool dummy = true;
xQueueSend(manual_broadcasts, &dummy, 0); //new row - send broadcast
@@ -67,7 +68,32 @@ esp_err_t DataLinkManager::rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t
return ESP_OK;
}
/**
* @brief Recomputes and stores this board's own sum_of_hops (centrality score).
* Called whenever the routing table changes. No semaphores are held on entry.
*/
void DataLinkManager::rip_update_self_sum_of_hops(){
uint32_t total = 0;
for (size_t i = 1; i < RIP_MAX_ROUTES; i++){
if (xSemaphoreTake(rip_table[i].row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) != pdTRUE){
continue;
}
if (rip_table[i].valid == RIP_VALID_ROW && rip_table[i].info.hops <= RIP_MAX_HOPS){
total += rip_table[i].info.hops;
}
xSemaphoreGive(rip_table[i].row_sem);
}
// Clamp to uint8_t max — with RIP_MAX_ROUTES=10 and RIP_MAX_HOPS=15 the max is 9*15=135, fits fine.
if (xSemaphoreTake(rip_table[0].row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) == pdTRUE){
rip_table[0].info.sum_of_hops = (total > 255) ? 255 : static_cast<uint8_t>(total);
xSemaphoreGive(rip_table[0].row_sem);
}
}
esp_err_t DataLinkManager::rip_reset_entry_ttl(uint8_t board_id){
// ...existing code...
RIPRow* entry = nullptr;
esp_err_t res;
@@ -92,7 +118,7 @@ esp_err_t DataLinkManager::rip_reset_entry_ttl(uint8_t board_id){
return ESP_OK;
}
esp_err_t DataLinkManager::rip_update_entry(uint8_t new_hop, uint8_t channel, RIPRow** entry){
esp_err_t DataLinkManager::rip_update_entry(uint8_t new_hop, uint8_t new_sum_of_hops, uint8_t channel, RIPRow** entry){
if (entry == nullptr){
return ESP_FAIL; //board doesn't exist
}
@@ -102,22 +128,33 @@ esp_err_t DataLinkManager::rip_update_entry(uint8_t new_hop, uint8_t channel, RI
}
uint8_t old_hops = (*entry)->info.hops;
uint8_t old_sum_of_hops = (*entry)->info.sum_of_hops;
bool hops_improved = (new_hop < (*entry)->info.hops) || ((*entry)->info.hops == RIP_MAX_HOPS + 1);
if ((*entry)->info.hops >= new_hop && (*entry)->info.hops != RIP_MAX_HOPS + 1){ //no count to infinity if path is invalid
if (hops_improved){ //accept better paths and allow recovery from infinity
(*entry)->info.hops = new_hop;
(*entry)->info.sum_of_hops = new_sum_of_hops;
(*entry)->channel = channel;
// ESP_LOGI(DEBUG_LINK_TAG, "updated board_id %d now has hops %d from channel %d", (*entry)->info.board_id, (*entry)->info.hops, channel);
} else {
// Even if hops didn't improve, update the centrality score if it came from the same channel
if ((*entry)->channel == channel){
(*entry)->info.sum_of_hops = new_sum_of_hops;
}
}
(*entry)->ttl = RIP_TTL_START;
(*entry)->valid = 1;
// ESP_LOGI(DEBUG_LINK_TAG, "refreshed board_id %d ttl", (*entry)->info.board_id);
bool sum_of_hops_changed = (old_sum_of_hops != (*entry)->info.sum_of_hops);
xSemaphoreGive((*entry)->row_sem);
if (uxQueueMessagesWaiting(manual_broadcasts) == 0 && old_hops > new_hop && old_hops != RIP_MAX_HOPS + 1){
//if hops were changed, send broadcast (if there isn't already one manual broadcast request pending)
if (hops_improved || sum_of_hops_changed){
rip_update_self_sum_of_hops();
}
if (uxQueueMessagesWaiting(manual_broadcasts) == 0 && (old_hops > new_hop || old_hops == RIP_MAX_HOPS + 1 || sum_of_hops_changed)){
//if hops were changed (or recovered from infinity), or sum_of_hops changed, send broadcast
bool dummy = true;
xQueueSend(manual_broadcasts, &dummy, 0);
}
@@ -139,7 +176,7 @@ esp_err_t DataLinkManager::rip_find_entry(uint8_t board_id, RIPRow** entry, bool
if (xSemaphoreTake(rip_table[i].row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) != pdTRUE){
return ESP_FAIL;
}
if (rip_table[i].valid == RIP_VALID_ROW && rip_table[i].info.board_id == board_id){
if ((rip_table[i].valid == RIP_VALID_ROW || rip_table[i].valid == RIP_NEW_ROW) && rip_table[i].info.board_id == board_id){
*entry = &rip_table[i];
xSemaphoreGive(rip_table[i].row_sem);
// ESP_LOGI(DEBUG_LINK_TAG, "Found %d in table at row %d", board_id, i);
@@ -198,14 +235,11 @@ esp_err_t DataLinkManager::rip_get_row(RIPRow** entry, uint8_t row_num){
return ESP_ERR_INVALID_STATE;
}
if (rip_table[row_num].info.hops == RIP_MAX_HOPS + 1){
//invalid hop, decrement counter
rip_table[row_num].ttl_flush--;
if (rip_table[row_num].ttl_flush == 0){
rip_table[row_num].valid = RIP_INVALID_ROW;
xSemaphoreGive(rip_table[row_num].row_sem);
return ESP_FAIL;
}
if (rip_table[row_num].info.hops == RIP_MAX_HOPS + 1 && rip_table[row_num].ttl_flush == 0){
//flush countdown has expired, invalidate the row
rip_table[row_num].valid = RIP_INVALID_ROW;
xSemaphoreGive(rip_table[row_num].row_sem);
return ESP_FAIL;
}
static RIPRow row_snapshots[RIP_MAX_ROUTES];
@@ -228,8 +262,7 @@ esp_err_t DataLinkManager::rip_get_row(RIPRow** entry, uint8_t row_num){
* @return esp_err_t
*/
esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
//use the control frame for the demo (as the number of rows increase, we will need to use the generic frame)
//data will be [board_id (1), hops (1), board_id (2), hops (2), ...]
// Wire format: [board_id (1), hops (1), sum_of_hops (1), ...] (RIP_WIRE_STRIDE bytes per entry)
uint16_t message_idx = 0;
esp_err_t res;
@@ -240,7 +273,7 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
if(broadcast){
for (size_t channel = 0; channel < num_channels; channel++){
auto rip_message = std::make_unique<std::vector<uint8_t>>();
rip_message->resize(RIP_MAX_ROUTES * 2);
rip_message->resize(RIP_MAX_ROUTES * RIP_WIRE_STRIDE);
for (size_t i = 0; i < RIP_MAX_ROUTES; i++){
res = rip_get_row(&entry, i);
@@ -253,15 +286,15 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
continue;
}
// ESP_LOGI(DEBUG_LINK_TAG, "Found entry for board %d with hops %d", entry->info.board_id, entry->info.hops);
if (entry->channel == channel){
//poisoned reverse
rip_message->at(message_idx++) = entry->info.board_id;
rip_message->at(message_idx++) = RIP_MAX_HOPS + 1;
rip_message->at(message_idx++) = entry->info.sum_of_hops;
} else {
rip_message->at(message_idx++) = entry->info.board_id;
rip_message->at(message_idx++) = entry->info.hops;
rip_message->at(message_idx++) = entry->info.sum_of_hops;
}
}
@@ -299,7 +332,7 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
}
} else {
auto rip_message = std::make_unique<std::vector<uint8_t>>();
rip_message->resize(RIP_MAX_ROUTES * 2);
rip_message->resize(RIP_MAX_ROUTES * RIP_WIRE_STRIDE);
for (size_t i = 0; i < RIP_MAX_ROUTES; i++){
res = rip_get_row(&entry, i);
@@ -313,6 +346,7 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
}
rip_message->data()[message_idx++] = entry->info.board_id;
rip_message->data()[message_idx++] = entry->info.hops;
rip_message->data()[message_idx++] = entry->info.sum_of_hops;
}
ESP_LOGI(DEBUG_LINK_TAG, "replying to discovery request to board %d", dest_id);
res = send(dest_id, std::move(rip_message), FrameType::RIP_TABLE_CONTROL, FLAG_DISCOVERY);
@@ -382,7 +416,7 @@ esp_err_t DataLinkManager::get_routing_table(RIPRow_public* table, size_t* table
return ESP_FAIL;
}
if (rip_table[i].valid == RIP_VALID_ROW){
table[i].info = rip_table[i].info;
table[i].info = rip_table[i].info; // copies board_id, hops, and sum_of_hops
table[i].channel = rip_table[i].channel;
curr_size++;
}
@@ -439,15 +473,20 @@ esp_err_t DataLinkManager::get_routing_table(RIPRow_public* table, size_t* table
continue;
}
if (link_layer_obj->rip_table[i].ttl != 0){
// link_layer_obj->rip_table[i].valid = RIP_INVALID_ROW;
// ESP_LOGI(DEBUG_LINK_TAG, "Entry %d now has ttl %d", i, link_layer_obj->rip_table[i].ttl);
// } else {
link_layer_obj->rip_table[i].ttl--;
if (link_layer_obj->rip_table[i].ttl == 0){
link_layer_obj->rip_table[i].info.hops = RIP_MAX_HOPS + 1;
link_layer_obj->rip_table[i].ttl_flush = RIP_FLUSH_COUNT;
broadcast = true;
}
} else if (link_layer_obj->rip_table[i].info.hops == RIP_MAX_HOPS + 1){
// TTL already zero and route is poisoned — count down the flush timer
if (link_layer_obj->rip_table[i].ttl_flush > 0){
link_layer_obj->rip_table[i].ttl_flush--;
}
if (link_layer_obj->rip_table[i].ttl_flush == 0){
link_layer_obj->rip_table[i].valid = RIP_INVALID_ROW;
}
}
xSemaphoreGive(link_layer_obj->rip_table[i].row_sem);