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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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19
components/dataLink/include/DataLinkManager.h
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@@ -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