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

add logs and decerase rx queue wait timer

Browse Source
This commit is contained in:
Justin Chow
2026-03-04 04:19:19 -05:00
committed by Johnathon Slightham
parent 94237011be
commit 5f02634794
3 changed files with 8 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
components/dataLink/DataLinkFrames.cpp
View File

@@ -350,6 +350,8 @@ esp_err_t DataLinkManager::receive_rmt(uint8_t channel){
if (!async_receive_queue->enqueue(std::move(metadata), std::chrono::milliseconds(ASYNC_QUEUE_WAIT_TICKS))){
return ESP_ERR_TIMEOUT;
}
// ESP_LOGI("TMP", "Control frame LUT cache HIT - hash=0x%08lX", peeked_hash);
return ESP_OK;
}
// Cache miss – fall through to full validation below
@@ -420,12 +422,12 @@ esp_err_t DataLinkManager::receive_rmt(uint8_t channel){
//check for a rip frame
if (static_cast<FrameType>(GET_TYPE(header.type_flag)) == FrameType::RIP_TABLE_CONTROL){
ESP_LOGI(DEBUG_LINK_TAG, "Got a RIP frame");
ESP_LOGI(DEBUG_LINK_TAG, "Got a RIP frame from channel %d", channel);
for (size_t i = 0; i < message_size-1; i+=2){
uint8_t board_id = message->data()[i];
uint8_t hops = message->data()[i+1];
// ESP_LOGI(DEBUG_LINK_TAG, "Received: board_id %d and number of hops %d on channel %d", board_id, hops, channel);
ESP_LOGI(DEBUG_LINK_TAG, "Received: board_id %d and number of hops %d on channel %d", board_id, hops, channel);
RIPRow* entry = nullptr;

4
components/dataLink/DataLinkScheduler.cpp
View File

@@ -128,6 +128,8 @@ esp_err_t DataLinkManager::scheduler_send(uint8_t channel){
size_t frame_size = isControlFrame ? sizeof(ControlFrame) : sizeof(GenericFrame);
uint8_t send_data[frame_size];
ESP_LOGI(DEBUG_LINK_TAG, "Sending frame on channel %d, type: %s", channel, isControlFrame ? "Control" : "Generic");
if (isControlFrame){
//control frame
@@ -289,7 +291,7 @@ esp_err_t DataLinkManager::scheduler_send_rmt(uint8_t channel, SchedulerMetadata
ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", frame.header.receiver_id);
return ESP_FAIL;
}
// ESP_LOGI(DEBUG_LINK_TAG, "Sending frame %d frag_info 0x%X", frame.header.seq_num, frame.header.frag_info);
ESP_LOGI(DEBUG_LINK_TAG, "Sending frame %d on channel %d to board %d frag_info 0x%X", frame.header.seq_num, channel, frame.header.receiver_id, frame.header.frag_info);
res = phys_comms->send(send_data, frame_size, &config, channel_to_route);
// if (wait_for_tx_done){
// phys_comms->wait_until_send_complete(channel_to_route);

2
components/rmt/RMTManager.cpp
View File

@@ -579,7 +579,7 @@ esp_err_t RMTManager::receive(uint8_t* recv_buf, size_t size, size_t* output_siz
}
rmt_rx_done_event_data_t rx_data;
if (xQueueReceive(channels[channel_num].rx_queue, &rx_data, pdMS_TO_TICKS(150)) != pdTRUE){ //this will wait until a message has arrived or not
if (xQueueReceive(channels[channel_num].rx_queue, &rx_data, pdMS_TO_TICKS(5)) != pdTRUE){ //this will wait until a message has arrived or not
// printf("Timeout occurred while waiting for RX event\n");
// ESP_LOGE(DEBUG_TAG, "Timeout occurred while waiting for RX event - didn't receive a message in time");
return ESP_FAIL;