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Add support for ACK response for Generic Frame Fragments

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This commit is contained in:
Justin Chow
2026-01-06 14:33:01 -05:00
committed by Johnathon Slightham
parent 53d3c775ba
commit 7984b8a89f
21 changed files with 2002 additions and 452 deletions
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93
components/dataLink/DataLinkRIP.cpp
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@@ -4,7 +4,7 @@
/**
* @brief Initializes the RIP table
*
*
*/
void DataLinkManager::init_rip(){
for (size_t i = 0; i < RIP_MAX_ROUTES; i++){
@@ -42,7 +42,7 @@ esp_err_t DataLinkManager::rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t
return ESP_FAIL;
}
if (xSemaphoreTake((*entry)->row_sem, (TickType_t)RIP_MAX_SEM_WAIT) != pdTRUE){
if (xSemaphoreTake((*entry)->row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) != pdTRUE){
return ESP_FAIL;
}
@@ -54,11 +54,11 @@ esp_err_t DataLinkManager::rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t
(*entry)->ttl = RIP_TTL_START;
(*entry)->valid = 1;
// ESP_LOGI(DEBUG_LINK_TAG, "board_id %d now has hops %d from channel %d", (*entry)->info.board_id, (*entry)->info.hops, channel);
xSemaphoreGive((*entry)->row_sem);
if (uxQueueMessagesWaiting(manual_broadcasts) == 0){
bool dummy = true;
xQueueSend(manual_broadcasts, &dummy, 0); //new row - send broadcast
@@ -81,7 +81,7 @@ esp_err_t DataLinkManager::rip_reset_entry_ttl(uint8_t board_id){
return ESP_FAIL; //board doesn't exist
}
if (xSemaphoreTake(entry->row_sem, (TickType_t)RIP_MAX_SEM_WAIT) != pdTRUE){
if (xSemaphoreTake(entry->row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) != pdTRUE){
return ESP_FAIL;
}
@@ -97,7 +97,7 @@ esp_err_t DataLinkManager::rip_update_entry(uint8_t new_hop, uint8_t channel, RI
return ESP_FAIL; //board doesn't exist
}
if (xSemaphoreTake((*entry)->row_sem, (TickType_t)RIP_MAX_SEM_WAIT) != pdTRUE){
if (xSemaphoreTake((*entry)->row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) != pdTRUE){
return ESP_FAIL;
}
@@ -108,9 +108,9 @@ esp_err_t DataLinkManager::rip_update_entry(uint8_t new_hop, uint8_t channel, RI
(*entry)->channel = channel;
// ESP_LOGI(DEBUG_LINK_TAG, "updated board_id %d now has hops %d from channel %d", (*entry)->info.board_id, (*entry)->info.hops, channel);
}
(*entry)->ttl = RIP_TTL_START;
(*entry)->valid = 1;
(*entry)->valid = 1;
// ESP_LOGI(DEBUG_LINK_TAG, "refreshed board_id %d ttl", (*entry)->info.board_id);
@@ -128,15 +128,15 @@ esp_err_t DataLinkManager::rip_update_entry(uint8_t new_hop, uint8_t channel, RI
/**
* @brief Finds the board_id in the table if it exists and stores that row in `entry`
* TODO: use an unordered map instead of an array?
*
* @param board_id
* @param entry
* @return esp_err_t
*
* @param board_id
* @param entry
* @return esp_err_t
*/
esp_err_t DataLinkManager::rip_find_entry(uint8_t board_id, RIPRow** entry, bool reserve_row = false){
RIPRow* free_slot = nullptr;
for (size_t i = 0; i < RIP_MAX_ROUTES; i++){
if (xSemaphoreTake(rip_table[i].row_sem, (TickType_t)RIP_MAX_SEM_WAIT) != pdTRUE){
if (xSemaphoreTake(rip_table[i].row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) != pdTRUE){
return ESP_FAIL;
}
if (rip_table[i].valid == RIP_VALID_ROW && rip_table[i].info.board_id == board_id){
@@ -144,7 +144,7 @@ esp_err_t DataLinkManager::rip_find_entry(uint8_t board_id, RIPRow** entry, bool
xSemaphoreGive(rip_table[i].row_sem);
// ESP_LOGI(DEBUG_LINK_TAG, "Found %d in table at row %d", board_id, i);
return ESP_OK;
}
}
if (rip_table[i].valid == RIP_INVALID_ROW && free_slot == nullptr){
free_slot = &rip_table[i];
}
@@ -158,7 +158,7 @@ esp_err_t DataLinkManager::rip_find_entry(uint8_t board_id, RIPRow** entry, bool
}
if (free_slot != nullptr){
if (xSemaphoreTake(free_slot->row_sem, RIP_MAX_SEM_WAIT) != pdTRUE) {
if (xSemaphoreTake(free_slot->row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) != pdTRUE) {
return ESP_FAIL;
}
@@ -176,10 +176,10 @@ esp_err_t DataLinkManager::rip_find_entry(uint8_t board_id, RIPRow** entry, bool
/**
* @brief Returns the associated RIP Table row by row number. Information returned is read only.
*
* @param entry
* @param row_num
* @return esp_err_t
*
* @param entry
* @param row_num
* @return esp_err_t
*/
esp_err_t DataLinkManager::rip_get_row(RIPRow** entry, uint8_t row_num){
if (entry == nullptr){
@@ -190,7 +190,7 @@ esp_err_t DataLinkManager::rip_get_row(RIPRow** entry, uint8_t row_num){
return ESP_ERR_INVALID_ARG;
}
if (xSemaphoreTake(rip_table[row_num].row_sem, (TickType_t)RIP_MAX_SEM_WAIT) != pdTRUE) return ESP_ERR_TIMEOUT;
if (xSemaphoreTake(rip_table[row_num].row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) != pdTRUE) return ESP_ERR_TIMEOUT;
if (rip_table[row_num].valid == RIP_INVALID_ROW){
xSemaphoreGive(rip_table[row_num].row_sem);
@@ -216,10 +216,10 @@ esp_err_t DataLinkManager::rip_get_row(RIPRow** entry, uint8_t row_num){
/**
* @brief Sends RIP frame
*
*
* @param broadcast True - broadcasts (sends rip table to all available channels); False - sends rip table via routing based on `dest_id`
* @param dest_id Destination board (requesting board) to send the rip table to (ignored if `broadcast is true`)
* @return esp_err_t
* @return esp_err_t
*/
esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
//use the control frame for the demo (as the number of rows increase, we will need to use the generic frame)
@@ -231,22 +231,23 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
esp_err_t res;
RIPRow* entry = nullptr;
uint16_t seq_num = 0;
if(broadcast){
for (size_t channel = 0; channel < num_channels; channel++){
for (size_t i = 0; i < RIP_MAX_ROUTES; i++){
res = rip_get_row(&entry, i);
if (res != ESP_OK){
continue;
}
if (entry == nullptr){
continue;
}
// ESP_LOGI(DEBUG_LINK_TAG, "Found entry for board %d with hops %d", entry->info.board_id, entry->info.hops);
if (entry->channel == channel){
//poisoned reverse
rip_message[message_idx++] = entry->info.board_id;
@@ -265,12 +266,18 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
memset(send_data, 0, message_idx);
memcpy(send_data, rip_message, message_idx);
res = get_inc_sequence_num(BROADCAST_ADDR, &seq_num);
if (res != ESP_OK){
ESP_LOGE(DEBUG_LINK_TAG, "Failed atomic get increment sequence number map");
return res;
}
SchedulerMetadata metadata = {
.header = {
.preamble = START_OF_FRAME,
.sender_id = this_board_id,
.receiver_id = BROADCAST_ADDR,
.seq_num = sequence_num_map[BROADCAST_ADDR]++,
.seq_num = seq_num,
.type_flag = static_cast<uint8_t>(FrameType::RIP_TABLE_CONTROL),
.data_len = message_idx,
.crc_16 = 0,
@@ -279,6 +286,9 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
.enqueue_time_ns = 0,
.data = send_data,
.len = message_idx,
.last_ack = 0,
.curr_fragment = 0,
.timeout = 0,
};
res = push_frame_to_scheduler(metadata, channel);
@@ -314,10 +324,10 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
/**
* @brief Determines which channel to route the frame to, depending on the dest (board) id
*
* @param dest_id
* @param channel_to_send
* @return esp_err_t
*
* @param dest_id
* @param channel_to_send
* @return esp_err_t
*/
esp_err_t DataLinkManager::route_frame(uint8_t dest_id, uint8_t* channel_to_send){
RIPRow* entry = nullptr;
@@ -338,6 +348,15 @@ esp_err_t DataLinkManager::route_frame(uint8_t dest_id, uint8_t* channel_to_send
return ESP_OK;
}
/**
* @brief Fetches the current routing table at the perspective of the host board
*
* @details The routing table is based off of RIP
*
* @param table
* @param table_size
* @return esp_err_t
*/
esp_err_t DataLinkManager::get_routing_table(RIPRow_public* table, size_t* table_size){
if (table == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid table pointer");
@@ -357,14 +376,14 @@ esp_err_t DataLinkManager::get_routing_table(RIPRow_public* table, size_t* table
size_t curr_size = 0;
for (size_t i = 0; i < RIP_MAX_ROUTES; i++){
if (xSemaphoreTake(rip_table[i].row_sem, (TickType_t)RIP_MAX_SEM_WAIT) != pdTRUE){
if (xSemaphoreTake(rip_table[i].row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) != pdTRUE){
return ESP_FAIL;
}
if (rip_table[i].valid == RIP_VALID_ROW){
table[i].info = rip_table[i].info;
table[i].channel = rip_table[i].channel;
curr_size++;
}
}
xSemaphoreGive(rip_table[i].row_sem);
}
@@ -409,7 +428,7 @@ esp_err_t DataLinkManager::get_routing_table(RIPRow_public* table, size_t* table
vTaskDelay(pdMS_TO_TICKS(RIP_MS_TO_SEC)); //run every second
for (size_t i = 1; i < RIP_MAX_ROUTES; i++){
// ESP_LOGI(DEBUG_LINK_TAG, "Decrementing ttl on entry %d", i);
if (xSemaphoreTake(link_layer_obj->rip_table[i].row_sem, (TickType_t)RIP_MAX_SEM_WAIT) !=pdTRUE){
if (xSemaphoreTake(link_layer_obj->rip_table[i].row_sem, pdMS_TO_TICKS(RIP_MAX_SEM_WAIT_MS)) !=pdTRUE){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to get sem from entry %d", i);
continue;
}
@@ -427,7 +446,7 @@ esp_err_t DataLinkManager::get_routing_table(RIPRow_public* table, size_t* table
link_layer_obj->rip_table[i].ttl_flush = RIP_FLUSH_COUNT;
broadcast = true;
}
}
}
xSemaphoreGive(link_layer_obj->rip_table[i].row_sem);
}
@@ -452,5 +471,5 @@ void DataLinkManager::start_rip_tasks(){
ESP_LOGI(DEBUG_LINK_TAG, "Starting RIP Broadcast task");
xTaskCreate(DataLinkManager::rip_broadcast_timer_function, "RIPBroadcast", 4096, static_cast<void*>(this), 5, &rip_broadcast_task);
ESP_LOGI(DEBUG_LINK_TAG, "Starting RIP TTL task");
xTaskCreate(DataLinkManager::rip_ttl_decrement_task, "RIPTTL", 4096, static_cast<void*>(this), 5, &rip_ttl_task);
}
xTaskCreate(DataLinkManager::rip_ttl_decrement_task, "RIPTTL", 2048, static_cast<void*>(this), 5, &rip_ttl_task);
}