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Send robot topology to PC

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This commit is contained in:
Johnathon Slightham
2025-07-26 10:55:09 -04:00
parent 457f2583c9
commit 8f861caa20
14 changed files with 493 additions and 67 deletions
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29
components/rpc/CommunicationRouter.cpp
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@@ -117,3 +117,32 @@ void CommunicationRouter::route(uint8_t* buffer, const size_t length) const {
this->m_data_link_manager->send(mpi_message->destination(), buffer, length, FrameType::MOTOR_TYPE, 0);
}
}
std::pair<std::vector<uint8_t>, std::vector<Orientation>> CommunicationRouter::get_physically_connected_modules() const {
std::vector<RIPRow_public> table;
table.resize(RIP_MAX_ROUTES);
size_t table_size = RIP_MAX_ROUTES * sizeof(RIPRow_public);
m_data_link_manager->get_routing_table(table.data(), &table_size);
std::vector<uint8_t> connected_module_ids;
std::vector<Orientation> connected_module_orientations;
connected_module_ids.resize(MAX_WIRED_CONNECTIONS);
connected_module_orientations.resize(MAX_WIRED_CONNECTIONS);
for (int i = 0; i < MAX_WIRED_CONNECTIONS; i++) {
connected_module_ids[i] = 0; // this is not the PC ID here, marking as nc.
}
for (int i = 0; i < table_size; i++) {
if (table[i].info.hops == 1 && table[i].channel < MAX_WIRED_CONNECTIONS) {
connected_module_ids[table[i].channel] = table[i].info.board_id;
}
}
// todo: get orientation (temporary)
for (int i = 0; i < MAX_WIRED_CONNECTIONS; i++) {
connected_module_orientations[i] = Orientation_Deg0;
}
return { connected_module_ids, connected_module_orientations };
}