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Cleanup rpc interfaces

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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
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25
components/rpc/include/CommunicationRouter.h
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@@ -2,6 +2,8 @@
// Created by Johnathon Slightham on 2025-05-25.
//
// todo: this class is getting a bit large
#ifndef COMMUNICATIONROUTER_H
#define COMMUNICATIONROUTER_H
@@ -9,13 +11,14 @@
#include <memory>
#include <chrono>
#include "CommunicationFactory.h"
#include "freertos/FreeRTOS.h"
#include "IDiscoveryService.h"
#include "ConfigManager.h"
#include "OrientationDetection.h"
#include "WifiManager.h"
#include "freertos/FreeRTOS.h"
#include "TCPServer.h"
#include "wireless/WifiManager.h"
#include "wireless/TCPServer.h"
#include "DataLinkManager.h"
#include "constants/tcp.h"
#include "constants/module.h"
#include "PtrQueue.h"
@@ -29,15 +32,16 @@ class CommunicationRouter {
};
public:
CommunicationRouter(const std::function<void(char*, int)> &rx_callback, std::unique_ptr<WifiManager>&& pc_connection)
explicit CommunicationRouter(const std::function<void(char*, int)> &rx_callback)
: m_tcp_rx_queue(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
m_rx_callback(rx_callback),
m_config_manager(ConfigManager::get_instance()),
m_tcp_server(std::make_unique<TCPServer>(TCP_PORT, m_tcp_rx_queue)),
m_pc_connection(CommunicationFactory::create_connection_manager(m_config_manager.get_communication_method())),
m_lossless_server(CommunicationFactory::create_lossless_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_data_link_manager(std::make_unique<DataLinkManager>(m_config_manager.get_module_id(), MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()])),
m_pc_connection(std::move(pc_connection)),
m_module_id(m_config_manager.get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()){
m_last_leader_updated(std::chrono::system_clock::now()),
m_discovery_service(CommunicationFactory::create_discovery_service(m_config_manager.get_communication_method())){
OrientationDetection::init();
update_leader();
@@ -67,13 +71,14 @@ public:
private:
TaskHandle_t m_router_thread = nullptr;
ConfigManager &m_config_manager;
std::unique_ptr<IConnectionManager> m_pc_connection;
std::vector<TaskHandle_t> m_link_layer_threads;
std::unique_ptr<TCPServer> m_tcp_server; // todo: dependency injection
std::unique_ptr<IRPCServer> m_lossless_server;
std::unique_ptr<DataLinkManager> m_data_link_manager;
std::unique_ptr<WifiManager> m_pc_connection; // todo: change to dependency inject
uint8_t m_leader = 0;
uint8_t m_module_id;
std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
std::unique_ptr<IDiscoveryService> m_discovery_service;
};
#endif //COMMUNICATIONROUTER_H