RMT integration

components/rpc/CMakeLists.txt

@@ -1,4 +1,4 @@
-idf_component_register(SRCS "WifiManager.cpp" "mDNSDiscoveryService.cpp" "TCPServer.cpp" "CommunicationRouter.cpp" "MessagingInterface.cpp"
+idf_component_register(SRCS "WifiManager.cpp" "mDNSDiscoveryService.cpp" "TCPServer.cpp" "CommunicationRouter.cpp" "MessagingInterface.cpp" "OrientationDetection.cpp"
                         PRIV_REQUIRES driver esp_event nvs_flash esp_netif esp_wifi espressif__mdns constants config flatbuffers dataLink rmt
                         REQUIRES ptrQueue
                         INCLUDE_DIRS "include")

components/rpc/CommunicationRouter.cpp

@@ -5,13 +5,11 @@
 #include "mDNSDiscoveryService.h"
 #include "MPIMessageBuilder.h"
 #include "WifiManager.h"
-
 #include "freertos/FreeRTOS.h"
 #include "freertos/queue.h"
-
 #include "Tables.h"
-
 #include "PtrQueue.h"
+#include "OrientationDetection.h"
 
 CommunicationRouter::~CommunicationRouter() {
     vTaskDelete(m_router_thread);
@@ -139,9 +137,10 @@ std::pair<std::vector<uint8_t>, std::vector<Orientation>> CommunicationRouter::g
         }
     }
 
-    // todo: get orientation (temporary)
-    for (int i = 0; i < MAX_WIRED_CONNECTIONS; i++) {
-        connected_module_orientations[i] = Orientation_Deg0;
+    if (const auto id = connected_module_ids[0]; 0 == id) {
+        connected_module_orientations[0] = Orientation_Deg0;
+    } else {
+        connected_module_orientations[0] = OrientationDetection::get_orientation(0);
     }
 
     return { connected_module_ids, connected_module_orientations };

components/rpc/OrientationDetection.cpp

@@ -0,0 +1,46 @@
+//
+// Created by Johnathon Slightham on 2025-07-26.
+//
+
+#include <constants/module.h>
+#include "OrientationDetection.h"
+
+#include <ConfigManager.h>
+#include <iostream>
+#include <bits/ostream.tcc>
+
+void OrientationDetection::init() {
+    for (int i = 0; i < MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_type()]; i++) {
+        setup_gpio(static_cast<gpio_num_t>(CHANNEL_TO_0_DEG_MAP[i]));
+        setup_gpio(static_cast<gpio_num_t>(CHANNEL_TO_90_DEG_MAP[i]));
+        setup_gpio(static_cast<gpio_num_t>(CHANNEL_TO_180_DEG_MAP[i]));
+        setup_gpio(static_cast<gpio_num_t>(CHANNEL_TO_270_DEG_MAP[i]));
+    }
+}
+
+Orientation OrientationDetection::get_orientation(const uint8_t channel) {
+    if (gpio_get_level(static_cast<gpio_num_t>(CHANNEL_TO_90_DEG_MAP[channel]))) {
+        std::cout << "90deg" << std::endl;
+        return Orientation_Deg90;
+    } else if (gpio_get_level(static_cast<gpio_num_t>(CHANNEL_TO_180_DEG_MAP[channel]))) {
+        std::cout << "180deg" << std::endl;
+        return Orientation_Deg180;
+    } else if (gpio_get_level(static_cast<gpio_num_t>(CHANNEL_TO_270_DEG_MAP[channel]))) {
+        std::cout << "270deg" << std::endl;
+        return Orientation_Deg270;
+    } else {
+        std::cout << "No orientation detected" << std::endl;
+        return Orientation_Deg0;
+    }
+}
+
+void OrientationDetection::setup_gpio(const gpio_num_t pin) {
+    const gpio_config_t io_conf = {
+        .pin_bit_mask = (1ULL << pin),
+        .mode = GPIO_MODE_INPUT,
+        .pull_up_en = GPIO_PULLUP_DISABLE,
+        .pull_down_en = GPIO_PULLDOWN_ENABLE,
+        .intr_type = GPIO_INTR_DISABLE
+    };
+    gpio_config(&io_conf);
+}

components/rpc/include/CommunicationRouter.h

@@ -9,6 +9,7 @@
 #include <functional>
 #include <memory>
 #include <chrono>
+#include <OrientationDetection.h>
 #include <WifiManager.h>
 
 #include "freertos/FreeRTOS.h"
@@ -40,6 +41,7 @@ public:
             m_pc_connection(std::move(pc_connection)),
             m_module_id(ConfigManager::get_module_id()),
             m_last_leader_updated(std::chrono::system_clock::now()){
+        OrientationDetection::init();
         update_leader();
 
         xTaskCreate(router_thread, "communication_router", 4096, this, 3, &this->m_router_thread);

components/rpc/include/OrientationDetection.h

@@ -0,0 +1,20 @@
+//
+// Created by Johnathon Slightham on 2025-07-26.
+//
+
+#ifndef ORIENTATIONDETECTION_H
+#define ORIENTATIONDETECTION_H
+#include <flatbuffers_generated/RobotModule_generated.h>
+#include "driver/gpio.h"
+
+class OrientationDetection {
+public:
+    static void init();
+    static Orientation get_orientation(uint8_t channel);
+
+private:
+    static void setup_gpio(gpio_num_t pin);
+
+};
+
+#endif //ORIENTATIONDETECTION_H