botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 09:37:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

Fix RIP bugs, add in UART

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

19
components/dataLink/include/DataLinkManager.h
View File

@@ -10,12 +10,20 @@
#include "freertos/semphr.h"
#include "Frames.h"
#include "Tables.h"
#include "RMTManager.h"
#include "IPhysicalLayer.h"
#include "BlockingQueue.h"
#include "BlockingPriorityQueue.h"
#include <unordered_map>
#include "Scheduler.h"
/**
* @brief Selects which physical layer implementation to instantiate.
*/
enum class PhysicalLayerType : uint8_t {
RMT = 0, ///< Use the RMT-based Manchester-encoded physical layer (default)
SOFT_UART = 1, ///< Use the software-UART physical layer
};
#define DEBUG_LINK_TAG "LinkLayer"
#define CRC_POLYNOMIAL 0x1021
@@ -56,7 +64,7 @@ static const uint16_t crc16_table[256] = {
*/
class DataLinkManager{
public:
DataLinkManager(uint8_t board_id, uint8_t num_channels);
DataLinkManager(uint8_t board_id, uint8_t num_channels, PhysicalLayerType phy_type = PhysicalLayerType::SOFT_UART);
~DataLinkManager();
esp_err_t send(uint8_t dest_board, std::unique_ptr<std::vector<uint8_t>>&& buffer, FrameType type, uint8_t flag);
esp_err_t start_receive_frames(uint8_t curr_channel);
@@ -69,7 +77,7 @@ class DataLinkManager{
private:
uint8_t this_board_id = 0;
uint8_t num_channels = MAX_CHANNELS;
std::unique_ptr<RMTManager> phys_comms;
std::unique_ptr<IPhysicalLayer> phys_comms;
std::unordered_map<uint8_t, uint16_t> sequence_num_map;
SemaphoreHandle_t sequence_num_map_mutex;
@@ -93,10 +101,11 @@ class DataLinkManager{
void init_rip();
esp_err_t rip_find_entry(uint8_t board_id, RIPRow** entry, bool reserve_row);
esp_err_t rip_update_entry(uint8_t new_hop, uint8_t channel, RIPRow** entry);
esp_err_t rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t channel, RIPRow** entry);
esp_err_t rip_update_entry(uint8_t new_hop, uint8_t new_sum_of_hops, uint8_t channel, RIPRow** entry);
esp_err_t rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t sum_of_hops, uint8_t channel, RIPRow** entry);
esp_err_t rip_reset_entry_ttl(uint8_t board_id);
esp_err_t rip_get_row(RIPRow** entry, uint8_t row_num);
void rip_update_self_sum_of_hops();
//this is stored locally with metadata `ttl`
// std::unordered_map<uint8_t, RIPRow> rip_table; //using a hash map to store the routes to other boards - will be used as we scale up

10
components/dataLink/include/Tables.h
View File

@@ -7,7 +7,7 @@
#define RIP_INVALID_ROW 0
#define RIP_VALID_ROW 1
#define RIP_NEW_ROW 2
#define RIP_BROADCAST_INTERVAL 30000 //broadcast every 30 seconds (30000ms)
#define RIP_BROADCAST_INTERVAL 15000 //broadcast every 30 seconds (15000ms)
// #define RIP_BROADCAST_INTERVAL 3000 //temp broadcast every 3 seconds (3000ms)
#define RIP_TTL_START 180 //seconds
#define RIP_MS_TO_SEC 1000 //1000 ms to 1 sec
@@ -15,13 +15,15 @@
#define RIP_FLUSH_COUNT 8 //flush after 8*30 seconds = 240 seconds
#define RIP_DISCOVERY_MESSAGE_SIZE 1
#define RIP_WIRE_STRIDE 3 // bytes per entry on the wire: board_id, hops, sum_of_hops
/**
* @brief Routing data to a board
* This struct will be sent to other boards
*/
typedef struct _rip_hops{
uint8_t board_id; //ID of the destination
uint8_t hops; //hop count to `board_id`
uint8_t board_id; //ID of the destination
uint8_t hops; //hop count to `board_id`
uint8_t sum_of_hops; //sum of hops from `board_id` to all other known boards (centrality score)
} RIPHop;
typedef struct _rip_row{
@@ -36,7 +38,7 @@ typedef struct _rip_row{
/**
* @brief Public facing RIP table row
*
*
*/
typedef struct _rip_public_row{
RIPHop info;