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This commit is contained in:
Johnathon Slightham
2025-07-27 20:50:14 -04:00
parent 3cbdf0845d
commit 74d370e21a
6 changed files with 31 additions and 22 deletions
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16
components/dataLink/DataLinkManager.cpp
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@@ -176,7 +176,7 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
}
};
// ESP_LOGI(DEBUG_LINK_TAG, "Sending %d bytes", offset);
ESP_LOGI(DEBUG_LINK_TAG, "Sending %d bytes", offset);
// print_buffer_binary(send_data, frame_size);
uint8_t channel_to_route = MAX_CHANNELS;
@@ -192,7 +192,7 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", new_frame.receiver_id);
return ESP_FAIL;
}
// ESP_LOGI(DEBUG_LINK_TAG, "Sending message to %d", new_frame.receiver_id);
ESP_LOGI(DEBUG_LINK_TAG, "Sending message to %d", new_frame.receiver_id);
phys_comms->send(send_data, offset, &config, channel_to_route);
}
@@ -271,6 +271,10 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
return ESP_FAIL;
}
if (*recv_len < CONTROL_FRAME_OVERHEAD) {
return ESP_FAIL;
}
uint8_t* message = (uint8_t*)pvPortMalloc(CONTROL_FRAME_OVERHEAD + MAX_CONTROL_DATA_LEN);
if (message == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to malloc for receive");
@@ -286,7 +290,7 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
}
*recv_len = message_size;
memcpy(data, message, message_size);
// ESP_LOGI(DEBUG_LINK_TAG, "Received frame of type 0x%X destined for board %d", GET_TYPE(header.type_flag), header.receiver_id);
ESP_LOGI(DEBUG_LINK_TAG, "Received frame of type 0x%X destined for board %d", GET_TYPE(header.type_flag), header.receiver_id);
//check for a rip frame
if (static_cast<FrameType>(GET_TYPE(header.type_flag)) == FrameType::RIP_TABLE_CONTROL){
@@ -295,7 +299,7 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
for (size_t i = 0; i < message_size-1; i+=2){
uint8_t board_id = message[i];
uint8_t hops = message[i+1];
// ESP_LOGI(DEBUG_LINK_TAG, "Received: board_id %d and number of hops %d on channel %d", board_id, hops, curr_channel);
ESP_LOGI(DEBUG_LINK_TAG, "Received: board_id %d and number of hops %d on channel %d", board_id, hops, curr_channel);
RIPRow* entry = nullptr;
@@ -689,7 +693,7 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
if (broadcast){
res = send(BROADCAST_ADDR, rip_message, message_idx, FrameType::RIP_TABLE_CONTROL, 0);
} else {
// ESP_LOGI(DEBUG_LINK_TAG, "replying to discovery request to board %d", dest_id);
ESP_LOGI(DEBUG_LINK_TAG, "replying to discovery request to board %d", dest_id);
res = send(dest_id, rip_message, message_idx, FrameType::RIP_TABLE_CONTROL, FLAG_DISCOVERY);
}
if (res != ESP_OK){
@@ -838,7 +842,7 @@ esp_err_t DataLinkManager::get_network_toplogy(RIPRow_public_matrix* matrix, siz
while(true){
bool dummy;
xQueueReceive(link_layer_obj->manual_broadcasts, &dummy, pdMS_TO_TICKS(RIP_BROADCAST_INTERVAL)); //wait up to RIP_BROADCAST_INTERVAL ms
// ESP_LOGI(DEBUG_LINK_TAG, "Broadcasting table..."); //debug
ESP_LOGI(DEBUG_LINK_TAG, "Broadcasting table..."); //debug
res = link_layer_obj->send_rip_frame(true, 0);
if (res != ESP_OK){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to broadcast rip frame");