botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

RMT integration

Browse Source
This commit is contained in:
Johnathon Slightham
2025-07-26 23:55:17 -04:00
parent f09f68c23d
commit 8a463bba10
12 changed files with 108 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
components/rpc/CommunicationRouter.cpp
View File

@@ -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 };