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

Cleanup rpc interfaces

Browse Source
This commit is contained in:
Johnathon Slightham
2025-10-22 23:07:41 -04:00
parent c1512a1fa6
commit 6a1bf027b4
28 changed files with 224 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files

19
components/rpc/CommunicationRouter.cpp
View File

@@ -2,9 +2,9 @@
#include "CommunicationRouter.h"
#include "AngleControlMessageBuilder.h"
#include "mDNSDiscoveryService.h"
#include "include/wireless/mDNSDiscoveryService.h"
#include "MPIMessageBuilder.h"
#include "WifiManager.h"
#include "include/wireless/WifiManager.h"
#include "freertos/FreeRTOS.h"
#include "Tables.h"
#include "PtrQueue.h"
@@ -19,7 +19,6 @@ CommunicationRouter::~CommunicationRouter() {
// todo: we really need to change all char to uint8_t everywhere
// todo: get rid of copying going on, need to pass around sharedptrs/uniqueptrs
// todo: this needs to be combined with the 4 rmt threads
[[noreturn]] void CommunicationRouter::router_thread(void *args) {
const auto that = static_cast<CommunicationRouter *>(args);
@@ -40,7 +39,6 @@ CommunicationRouter::~CommunicationRouter() {
that->m_data_link_manager->start_receive_frames(channel);
while (true) {
char buffer[512];
// todo: very c style function calls
const auto err = that->m_data_link_manager->receive(reinterpret_cast<uint8_t *>(buffer), 512, &bytes_received, channel);
that->m_data_link_manager->start_receive_frames(channel);
@@ -66,7 +64,6 @@ int CommunicationRouter::send_msg(char* buffer, const size_t length) const {
return 0;
}
// todo: the number of things this is doing in so many different places is crazy...
void CommunicationRouter::update_leader() {
RIPRow_public table[RIP_MAX_ROUTES];
size_t table_size = RIP_MAX_ROUTES;
@@ -95,26 +92,24 @@ void CommunicationRouter::update_leader() {
this->m_leader = max;
if (this->m_leader == m_module_id) {
mDNSDiscoveryService::set_connected_boards(connected_module_ids);
this->m_discovery_service->set_connected_boards(connected_module_ids);
}
}
void CommunicationRouter::route(uint8_t* buffer, const size_t length) const {
flatbuffers::Verifier verifier(buffer, length);
bool ok = Messaging::VerifyMPIMessageBuffer(verifier);
if (!ok) { // This could be moved to just be called on wireline data to save cpu cycles.
// This could be moved to just be called on wireline data to save cpu cycles.
if (bool ok = Messaging::VerifyMPIMessageBuffer(verifier); !ok) {
ESP_LOGW(TAG, "route: got an invalid MPI message, disregarding");
return;
}
const auto& mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer);
if (mpi_message->destination() == m_module_id) {
if (const auto& mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer); mpi_message->destination() == m_module_id) {
ESP_LOGD(TAG, "Routing to this module [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
} else if (mpi_message->destination() == PC_ADDR && this->m_leader == m_module_id) {
ESP_LOGD(TAG, "Routing to wifi [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
this->m_tcp_server->send_msg(reinterpret_cast<char *>(buffer), 512);
this->m_lossless_server->send_msg(reinterpret_cast<char *>(buffer), 512);
} else if (mpi_message->destination() == PC_ADDR) {
ESP_LOGD(TAG, "Routing to wireline for wifi [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
this->m_data_link_manager->send(this->m_leader, buffer, length, FrameType::MOTOR_TYPE, 0);