Send robot topology to PC

components/constants/include/constants/module.h

@@ -13,6 +13,8 @@ inline std::unordered_map<int, int> MODULE_TO_NUM_CHANNELS_MAP {{ModuleType_SPLI
 
 #define PC_ADDR 0
 
+#define MAX_WIRED_CONNECTIONS 4
+
 #define SERVO_GPIO 1
 
 #define DC_MOTOR_PWM_FWD 1

components/flatbuffers/CMakeLists.txt

@@ -1,2 +1,2 @@
-idf_component_register(SRCS "MPIMessageBuilder.cpp" "AngleControlMessageBuilder.cpp"
+idf_component_register(SRCS "MPIMessageBuilder.cpp" "AngleControlMessageBuilder.cpp" "TopologyMessageBuilder.cpp"
         INCLUDE_DIRS "include")

components/flatbuffers/TopologyMessageBuilder.cpp

@@ -0,0 +1,37 @@
+//
+// Created by Johnathon Slightham on 2025-06-30.
+//
+
+#include "TopologyMessageBuilder.h"
+
+#include "SerializedMessage.h"
+
+namespace Flatbuffers {
+    SerializedMessage TopologyMessageBuilder::build_topology_message(
+        const uint8_t module_id,
+        const ModuleType module_type,
+        const std::vector<uint8_t>& channel_to_module,
+        const std::vector<int8_t>& orientation_to_module) {
+        builder_.Clear();
+
+        const auto orientation_to_module_vector = builder_.CreateVector(orientation_to_module);
+        const auto channel_to_module_vector = builder_.CreateVector(channel_to_module);
+
+        const auto message = Messaging::CreateTopologyMessage(
+            builder_,
+            module_id,
+            module_type,
+            channel_to_module.size(),
+            channel_to_module_vector,
+            orientation_to_module_vector
+        );
+
+        builder_.Finish(message);
+
+        return {builder_.GetBufferPointer(), builder_.GetSize()};
+    }
+
+    const Messaging::TopologyMessage* TopologyMessageBuilder::parse_topology_message(const uint8_t* buffer) {
+        return flatbuffers::GetRoot<Messaging::TopologyMessage>(buffer);
+    }
+}

components/flatbuffers/include/TopologyMessageBuilder.h

@@ -0,0 +1,33 @@
+//
+// Created by Johnathon Slightham on 2025-06-30.
+//
+
+#ifndef TOPOLOGYMESSAGEBUILDER_H
+#define TOPOLOGYMESSAGEBUILDER_H
+
+#include <string>
+#include <vector>
+
+#include "SerializedMessage.h"
+#include "flatbuffers_generated/TopologyMessage_generated.h"
+#include "flatbuffers/flatbuffers.h"
+
+namespace Flatbuffers {
+    class TopologyMessageBuilder {
+    public:
+        TopologyMessageBuilder() : builder_(1024) {}
+
+        SerializedMessage build_topology_message(
+            uint8_t module_id,
+            ModuleType module_type,
+            const std::vector<uint8_t>& channel_to_module,
+            const std::vector<int8_t>& orientation_to_module);
+
+        static const Messaging::TopologyMessage* parse_topology_message(const uint8_t* buffer);
+
+    private:
+        flatbuffers::FlatBufferBuilder builder_;
+    };
+}
+
+#endif //TOPOLOGYMESSAGEBUILDER_H

components/flatbuffers/include/flatbuffers/README.md

@@ -0,0 +1,4 @@
+# Flatbuffers
+This folder contains the [Flatbuffer library code](https://github.com/google/flatbuffers/tree/master/include/flatbuffers).
+It should never be modified, except when we want to bump the version of Flatbuffers we are using.
+

components/flatbuffers/include/flatbuffers_generated/RobotModule_generated.h

@@ -8,11 +8,14 @@
 
 // Ensure the included flatbuffers.h is the same version as when this file was
 // generated, otherwise it may not be compatible.
-// static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
+//static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
 //              FLATBUFFERS_VERSION_MINOR == 2 &&
 //              FLATBUFFERS_VERSION_REVISION == 10,
 //             "Non-compatible flatbuffers version included");
 
+struct MotorState;
+struct MotorStateBuilder;
+
 struct RobotModule;
 struct RobotModuleBuilder;
 
@@ -52,62 +55,178 @@ inline const char *EnumNameModuleType(ModuleType e) {
   return EnumNamesModuleType()[index];
 }
 
+enum Orientation : int8_t {
+  Orientation_Deg0 = 0,
+  Orientation_Deg90 = 1,
+  Orientation_Deg180 = 2,
+  Orientation_Deg270 = 3,
+  Orientation_MIN = Orientation_Deg0,
+  Orientation_MAX = Orientation_Deg270
+};
+
+inline const Orientation (&EnumValuesOrientation())[4] {
+  static const Orientation values[] = {
+    Orientation_Deg0,
+    Orientation_Deg90,
+    Orientation_Deg180,
+    Orientation_Deg270
+  };
+  return values;
+}
+
+inline const char * const *EnumNamesOrientation() {
+  static const char * const names[5] = {
+    "Deg0",
+    "Deg90",
+    "Deg180",
+    "Deg270",
+    nullptr
+  };
+  return names;
+}
+
+inline const char *EnumNameOrientation(Orientation e) {
+  if (::flatbuffers::IsOutRange(e, Orientation_Deg0, Orientation_Deg270)) return "";
+  const size_t index = static_cast<size_t>(e);
+  return EnumNamesOrientation()[index];
+}
+
+enum ModuleState : uint8_t {
+  ModuleState_NONE = 0,
+  ModuleState_MotorState = 1,
+  ModuleState_MIN = ModuleState_NONE,
+  ModuleState_MAX = ModuleState_MotorState
+};
+
+inline const ModuleState (&EnumValuesModuleState())[2] {
+  static const ModuleState values[] = {
+    ModuleState_NONE,
+    ModuleState_MotorState
+  };
+  return values;
+}
+
+inline const char * const *EnumNamesModuleState() {
+  static const char * const names[3] = {
+    "NONE",
+    "MotorState",
+    nullptr
+  };
+  return names;
+}
+
+inline const char *EnumNameModuleState(ModuleState e) {
+  if (::flatbuffers::IsOutRange(e, ModuleState_NONE, ModuleState_MotorState)) return "";
+  const size_t index = static_cast<size_t>(e);
+  return EnumNamesModuleState()[index];
+}
+
+template<typename T> struct ModuleStateTraits {
+  static const ModuleState enum_value = ModuleState_NONE;
+};
+
+template<> struct ModuleStateTraits<MotorState> {
+  static const ModuleState enum_value = ModuleState_MotorState;
+};
+
+bool VerifyModuleState(::flatbuffers::Verifier &verifier, const void *obj, ModuleState type);
+bool VerifyModuleStateVector(::flatbuffers::Verifier &verifier, const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values, const ::flatbuffers::Vector<uint8_t> *types);
+
+struct MotorState FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
+  typedef MotorStateBuilder Builder;
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_ANGLE = 4
+  };
+  int32_t angle() const {
+    return GetField<int32_t>(VT_ANGLE, 0);
+  }
+  bool Verify(::flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyField<int32_t>(verifier, VT_ANGLE, 4) &&
+           verifier.EndTable();
+  }
+};
+
+struct MotorStateBuilder {
+  typedef MotorState Table;
+  ::flatbuffers::FlatBufferBuilder &fbb_;
+  ::flatbuffers::uoffset_t start_;
+  void add_angle(int32_t angle) {
+    fbb_.AddElement<int32_t>(MotorState::VT_ANGLE, angle, 0);
+  }
+  explicit MotorStateBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  ::flatbuffers::Offset<MotorState> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = ::flatbuffers::Offset<MotorState>(end);
+    return o;
+  }
+};
+
+inline ::flatbuffers::Offset<MotorState> CreateMotorState(
+    ::flatbuffers::FlatBufferBuilder &_fbb,
+    int32_t angle = 0) {
+  MotorStateBuilder builder_(_fbb);
+  builder_.add_angle(angle);
+  return builder_.Finish();
+}
+
 struct RobotModule FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
   typedef RobotModuleBuilder Builder;
   enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
     VT_ID = 4,
-    VT_IP = 6,
+    VT_MODULE_TYPE = 6,
-    VT_HOSTNAME = 8,
+    VT_CONFIGURATION_TYPE = 8,
-    VT_MODULE_TYPE = 10,
+    VT_CONFIGURATION = 10
-    VT_CONNECTED_MODULE_IDS = 12
   };
-  int32_t id() const {
+  uint8_t id() const {
-    return GetField<int32_t>(VT_ID, 0);
+    return GetField<uint8_t>(VT_ID, 0);
-  }
-  const ::flatbuffers::String *ip() const {
-    return GetPointer<const ::flatbuffers::String *>(VT_IP);
-  }
-  const ::flatbuffers::String *hostname() const {
-    return GetPointer<const ::flatbuffers::String *>(VT_HOSTNAME);
   }
   ModuleType module_type() const {
     return static_cast<ModuleType>(GetField<int8_t>(VT_MODULE_TYPE, 0));
   }
-  const ::flatbuffers::Vector<int32_t> *connected_module_ids() const {
+  ModuleState configuration_type() const {
-    return GetPointer<const ::flatbuffers::Vector<int32_t> *>(VT_CONNECTED_MODULE_IDS);
+    return static_cast<ModuleState>(GetField<uint8_t>(VT_CONFIGURATION_TYPE, 0));
+  }
+  const void *configuration() const {
+    return GetPointer<const void *>(VT_CONFIGURATION);
+  }
+  template<typename T> const T *configuration_as() const;
+  const MotorState *configuration_as_MotorState() const {
+    return configuration_type() == ModuleState_MotorState ? static_cast<const MotorState *>(configuration()) : nullptr;
   }
   bool Verify(::flatbuffers::Verifier &verifier) const {
     return VerifyTableStart(verifier) &&
-           VerifyField<int32_t>(verifier, VT_ID, 4) &&
+           VerifyField<uint8_t>(verifier, VT_ID, 1) &&
-           VerifyOffset(verifier, VT_IP) &&
-           verifier.VerifyString(ip()) &&
-           VerifyOffset(verifier, VT_HOSTNAME) &&
-           verifier.VerifyString(hostname()) &&
            VerifyField<int8_t>(verifier, VT_MODULE_TYPE, 1) &&
-           VerifyOffset(verifier, VT_CONNECTED_MODULE_IDS) &&
+           VerifyField<uint8_t>(verifier, VT_CONFIGURATION_TYPE, 1) &&
-           verifier.VerifyVector(connected_module_ids()) &&
+           VerifyOffset(verifier, VT_CONFIGURATION) &&
+           VerifyModuleState(verifier, configuration(), configuration_type()) &&
            verifier.EndTable();
   }
 };
 
+template<> inline const MotorState *RobotModule::configuration_as<MotorState>() const {
+  return configuration_as_MotorState();
+}
+
 struct RobotModuleBuilder {
   typedef RobotModule Table;
   ::flatbuffers::FlatBufferBuilder &fbb_;
   ::flatbuffers::uoffset_t start_;
-  void add_id(int32_t id) {
+  void add_id(uint8_t id) {
-    fbb_.AddElement<int32_t>(RobotModule::VT_ID, id, 0);
+    fbb_.AddElement<uint8_t>(RobotModule::VT_ID, id, 0);
-  }
-  void add_ip(::flatbuffers::Offset<::flatbuffers::String> ip) {
-    fbb_.AddOffset(RobotModule::VT_IP, ip);
-  }
-  void add_hostname(::flatbuffers::Offset<::flatbuffers::String> hostname) {
-    fbb_.AddOffset(RobotModule::VT_HOSTNAME, hostname);
   }
   void add_module_type(ModuleType module_type) {
     fbb_.AddElement<int8_t>(RobotModule::VT_MODULE_TYPE, static_cast<int8_t>(module_type), 0);
   }
-  void add_connected_module_ids(::flatbuffers::Offset<::flatbuffers::Vector<int32_t>> connected_module_ids) {
+  void add_configuration_type(ModuleState configuration_type) {
-    fbb_.AddOffset(RobotModule::VT_CONNECTED_MODULE_IDS, connected_module_ids);
+    fbb_.AddElement<uint8_t>(RobotModule::VT_CONFIGURATION_TYPE, static_cast<uint8_t>(configuration_type), 0);
+  }
+  void add_configuration(::flatbuffers::Offset<void> configuration) {
+    fbb_.AddOffset(RobotModule::VT_CONFIGURATION, configuration);
   }
   explicit RobotModuleBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
         : fbb_(_fbb) {
@@ -122,37 +241,41 @@ struct RobotModuleBuilder {
 
 inline ::flatbuffers::Offset<RobotModule> CreateRobotModule(
     ::flatbuffers::FlatBufferBuilder &_fbb,
-    int32_t id = 0,
+    uint8_t id = 0,
-    ::flatbuffers::Offset<::flatbuffers::String> ip = 0,
-    ::flatbuffers::Offset<::flatbuffers::String> hostname = 0,
     ModuleType module_type = ModuleType_SPLITTER,
-    ::flatbuffers::Offset<::flatbuffers::Vector<int32_t>> connected_module_ids = 0) {
+    ModuleState configuration_type = ModuleState_NONE,
+    ::flatbuffers::Offset<void> configuration = 0) {
   RobotModuleBuilder builder_(_fbb);
-  builder_.add_connected_module_ids(connected_module_ids);
+  builder_.add_configuration(configuration);
-  builder_.add_hostname(hostname);
+  builder_.add_configuration_type(configuration_type);
-  builder_.add_ip(ip);
-  builder_.add_id(id);
   builder_.add_module_type(module_type);
+  builder_.add_id(id);
   return builder_.Finish();
 }
 
-inline ::flatbuffers::Offset<RobotModule> CreateRobotModuleDirect(
+inline bool VerifyModuleState(::flatbuffers::Verifier &verifier, const void *obj, ModuleState type) {
-    ::flatbuffers::FlatBufferBuilder &_fbb,
+  switch (type) {
-    int32_t id = 0,
+    case ModuleState_NONE: {
-    const char *ip = nullptr,
+      return true;
-    const char *hostname = nullptr,
+    }
-    ModuleType module_type = ModuleType_SPLITTER,
+    case ModuleState_MotorState: {
-    const std::vector<int32_t> *connected_module_ids = nullptr) {
+      auto ptr = reinterpret_cast<const MotorState *>(obj);
-  auto ip__ = ip ? _fbb.CreateString(ip) : 0;
+      return verifier.VerifyTable(ptr);
-  auto hostname__ = hostname ? _fbb.CreateString(hostname) : 0;
+    }
-  auto connected_module_ids__ = connected_module_ids ? _fbb.CreateVector<int32_t>(*connected_module_ids) : 0;
+    default: return true;
-  return CreateRobotModule(
+  }
-      _fbb,
+}
-      id,
+
-      ip__,
+inline bool VerifyModuleStateVector(::flatbuffers::Verifier &verifier, const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values, const ::flatbuffers::Vector<uint8_t> *types) {
-      hostname__,
+  if (!values || !types) return !values && !types;
-      module_type,
+  if (values->size() != types->size()) return false;
-      connected_module_ids__);
+  for (::flatbuffers::uoffset_t i = 0; i < values->size(); ++i) {
+    if (!VerifyModuleState(
+        verifier,  values->Get(i), types->GetEnum<ModuleState>(i))) {
+      return false;
+    }
+  }
+  return true;
 }
 
 inline const RobotModule *GetRobotModule(const void *buf) {

components/flatbuffers/include/flatbuffers_generated/TopologyMessage_generated.h

@@ -0,0 +1,156 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+
+#ifndef FLATBUFFERS_GENERATED_TOPOLOGYMESSAGE_MESSAGING_H_
+#define FLATBUFFERS_GENERATED_TOPOLOGYMESSAGE_MESSAGING_H_
+
+#include "flatbuffers/flatbuffers.h"
+
+// Ensure the included flatbuffers.h is the same version as when this file was
+// generated, otherwise it may not be compatible.
+// static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
+//               FLATBUFFERS_VERSION_MINOR == 2 &&
+//               FLATBUFFERS_VERSION_REVISION == 10,
+//              "Non-compatible flatbuffers version included");
+
+#include "RobotModule_generated.h"
+
+namespace Messaging {
+
+struct TopologyMessage;
+struct TopologyMessageBuilder;
+
+struct TopologyMessage FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
+  typedef TopologyMessageBuilder Builder;
+  enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
+    VT_MODULE_ID = 4,
+    VT_MODULE_TYPE = 6,
+    VT_NUM_CHANNELS = 8,
+    VT_CHANNEL_TO_MODULE = 10,
+    VT_CHANNEL_TO_ORIENTATION = 12
+  };
+  uint8_t module_id() const {
+    return GetField<uint8_t>(VT_MODULE_ID, 0);
+  }
+  ModuleType module_type() const {
+    return static_cast<ModuleType>(GetField<int8_t>(VT_MODULE_TYPE, 0));
+  }
+  uint8_t num_channels() const {
+    return GetField<uint8_t>(VT_NUM_CHANNELS, 0);
+  }
+  const ::flatbuffers::Vector<uint8_t> *channel_to_module() const {
+    return GetPointer<const ::flatbuffers::Vector<uint8_t> *>(VT_CHANNEL_TO_MODULE);
+  }
+  const ::flatbuffers::Vector<int8_t> *channel_to_orientation() const {
+    return GetPointer<const ::flatbuffers::Vector<int8_t> *>(VT_CHANNEL_TO_ORIENTATION);
+  }
+  bool Verify(::flatbuffers::Verifier &verifier) const {
+    return VerifyTableStart(verifier) &&
+           VerifyField<uint8_t>(verifier, VT_MODULE_ID, 1) &&
+           VerifyField<int8_t>(verifier, VT_MODULE_TYPE, 1) &&
+           VerifyField<uint8_t>(verifier, VT_NUM_CHANNELS, 1) &&
+           VerifyOffset(verifier, VT_CHANNEL_TO_MODULE) &&
+           verifier.VerifyVector(channel_to_module()) &&
+           VerifyOffset(verifier, VT_CHANNEL_TO_ORIENTATION) &&
+           verifier.VerifyVector(channel_to_orientation()) &&
+           verifier.EndTable();
+  }
+};
+
+struct TopologyMessageBuilder {
+  typedef TopologyMessage Table;
+  ::flatbuffers::FlatBufferBuilder &fbb_;
+  ::flatbuffers::uoffset_t start_;
+  void add_module_id(uint8_t module_id) {
+    fbb_.AddElement<uint8_t>(TopologyMessage::VT_MODULE_ID, module_id, 0);
+  }
+  void add_module_type(ModuleType module_type) {
+    fbb_.AddElement<int8_t>(TopologyMessage::VT_MODULE_TYPE, static_cast<int8_t>(module_type), 0);
+  }
+  void add_num_channels(uint8_t num_channels) {
+    fbb_.AddElement<uint8_t>(TopologyMessage::VT_NUM_CHANNELS, num_channels, 0);
+  }
+  void add_channel_to_module(::flatbuffers::Offset<::flatbuffers::Vector<uint8_t>> channel_to_module) {
+    fbb_.AddOffset(TopologyMessage::VT_CHANNEL_TO_MODULE, channel_to_module);
+  }
+  void add_channel_to_orientation(::flatbuffers::Offset<::flatbuffers::Vector<int8_t>> channel_to_orientation) {
+    fbb_.AddOffset(TopologyMessage::VT_CHANNEL_TO_ORIENTATION, channel_to_orientation);
+  }
+  explicit TopologyMessageBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
+        : fbb_(_fbb) {
+    start_ = fbb_.StartTable();
+  }
+  ::flatbuffers::Offset<TopologyMessage> Finish() {
+    const auto end = fbb_.EndTable(start_);
+    auto o = ::flatbuffers::Offset<TopologyMessage>(end);
+    return o;
+  }
+};
+
+inline ::flatbuffers::Offset<TopologyMessage> CreateTopologyMessage(
+    ::flatbuffers::FlatBufferBuilder &_fbb,
+    uint8_t module_id = 0,
+    ModuleType module_type = ModuleType_SPLITTER,
+    uint8_t num_channels = 0,
+    ::flatbuffers::Offset<::flatbuffers::Vector<uint8_t>> channel_to_module = 0,
+    ::flatbuffers::Offset<::flatbuffers::Vector<int8_t>> channel_to_orientation = 0) {
+  TopologyMessageBuilder builder_(_fbb);
+  builder_.add_channel_to_orientation(channel_to_orientation);
+  builder_.add_channel_to_module(channel_to_module);
+  builder_.add_num_channels(num_channels);
+  builder_.add_module_type(module_type);
+  builder_.add_module_id(module_id);
+  return builder_.Finish();
+}
+
+inline ::flatbuffers::Offset<TopologyMessage> CreateTopologyMessageDirect(
+    ::flatbuffers::FlatBufferBuilder &_fbb,
+    uint8_t module_id = 0,
+    ModuleType module_type = ModuleType_SPLITTER,
+    uint8_t num_channels = 0,
+    const std::vector<uint8_t> *channel_to_module = nullptr,
+    const std::vector<int8_t> *channel_to_orientation = nullptr) {
+  auto channel_to_module__ = channel_to_module ? _fbb.CreateVector<uint8_t>(*channel_to_module) : 0;
+  auto channel_to_orientation__ = channel_to_orientation ? _fbb.CreateVector<int8_t>(*channel_to_orientation) : 0;
+  return Messaging::CreateTopologyMessage(
+      _fbb,
+      module_id,
+      module_type,
+      num_channels,
+      channel_to_module__,
+      channel_to_orientation__);
+}
+
+inline const Messaging::TopologyMessage *GetTopologyMessage(const void *buf) {
+  return ::flatbuffers::GetRoot<Messaging::TopologyMessage>(buf);
+}
+
+inline const Messaging::TopologyMessage *GetSizePrefixedTopologyMessage(const void *buf) {
+  return ::flatbuffers::GetSizePrefixedRoot<Messaging::TopologyMessage>(buf);
+}
+
+inline bool VerifyTopologyMessageBuffer(
+    ::flatbuffers::Verifier &verifier) {
+  return verifier.VerifyBuffer<Messaging::TopologyMessage>(nullptr);
+}
+
+inline bool VerifySizePrefixedTopologyMessageBuffer(
+    ::flatbuffers::Verifier &verifier) {
+  return verifier.VerifySizePrefixedBuffer<Messaging::TopologyMessage>(nullptr);
+}
+
+inline void FinishTopologyMessageBuffer(
+    ::flatbuffers::FlatBufferBuilder &fbb,
+    ::flatbuffers::Offset<Messaging::TopologyMessage> root) {
+  fbb.Finish(root);
+}
+
+inline void FinishSizePrefixedTopologyMessageBuffer(
+    ::flatbuffers::FlatBufferBuilder &fbb,
+    ::flatbuffers::Offset<Messaging::TopologyMessage> root) {
+  fbb.FinishSizePrefixed(root);
+}
+
+}  // namespace Messaging
+
+#endif  // FLATBUFFERS_GENERATED_TOPOLOGYMESSAGE_MESSAGING_H_

components/rpc/CommunicationRouter.cpp

@@ -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 };
+}

components/rpc/MessagingInterface.cpp

@@ -64,3 +64,7 @@ void MessagingInterface::checkOrInsertTag(const uint8_t tag) {
     }
     xSemaphoreGive(m_map_semaphore);
 }
+
+std::pair<std::vector<uint8_t>, std::vector<Orientation>> MessagingInterface::get_physically_connected_modules() const {
+    return m_router->get_physically_connected_modules();
+}

components/rpc/include/CommunicationRouter.h

@@ -18,7 +18,9 @@
 #include "constants/tcp.h"
 #include "constants/module.h"
 
-#include"PtrQueue.h"
+#include "flatbuffers_generated/TopologyMessage_generated.h"
+
+#include "PtrQueue.h"
 
 class CommunicationRouter {
 
@@ -44,7 +46,7 @@ public:
 
         const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_type()];
         this->m_link_layer_threads.resize(num_channels);
-        for (uint8_t i = 0; i < num_channels; i++) {
+        for (int i = 0; i < num_channels; i++) {
             auto *params = new link_layer_thread_params(this, i);
             xTaskCreate(link_layer_thread, "communication_router_rmt", 4096, params, 3, &this->m_link_layer_threads[i]);
         }
@@ -61,13 +63,16 @@ public:
 
     void route(uint8_t *buffer, size_t length) const;
 
+    // pair of <module, mount orientation>
+    std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() const;
+
     // todo: does this really need to be here (so i can access from thread)?
     std::shared_ptr<PtrQueue<std::vector<uint8_t>>> m_tcp_rx_queue;
     std::function<void(char*, int)> m_rx_callback;
 private:
-    TaskHandle_t m_router_thread;
+    TaskHandle_t m_router_thread = nullptr;
     std::vector<TaskHandle_t> m_link_layer_threads;
-    std::unique_ptr<TCPServer> m_tcp_server;
+    std::unique_ptr<TCPServer> m_tcp_server; // todo: dependency injection
     std::unique_ptr<DataLinkManager> m_data_link_manager;
     std::unique_ptr<WifiManager> m_pc_connection; // todo: change to dependency inject
     uint8_t m_leader = 0;

components/rpc/include/MessagingInterface.h

@@ -24,6 +24,7 @@ public:
     int broadcast(char* buffer, int size, int root, bool durable);
     int recv(char* buffer, int size, int source, int tag);
     int sendrecv(char* send_buffer, int send_size, int dest, int send_tag, char* recv_buffer, int recv_size, int recv_tag);
+    std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() const;
 
 private:
     void handleRecv(const char* recv_buffer, int recv_size);

main/LoopManager.cpp

@@ -7,19 +7,39 @@
 #include <iostream>
 #include <memory>
 #include <MessagingInterface.h>
+#include <TopologyMessageBuilder.h>
 
 #include "esp_log.h"
 
 #define ACTUATOR_CMD_TAG 5
+#define TOPOLOGY_CMD_TAG 6
 
-[[noreturn]] void LoopManager::control_loop() {
+#define METADATA_PERIOD_MS 5000
-    const auto messaging_interface = std::make_unique<MessagingInterface>(std::make_unique<WifiManager>());
 
+[[noreturn]] void LoopManager::control_loop() const {
     const auto actuator = ActuatorFactory::create_actuator(ConfigManager::get_module_type());
 
     uint8_t buffer[512];
     while (true) {
-        messaging_interface->recv(reinterpret_cast<char *>(buffer), 512, PC_ADDR, ACTUATOR_CMD_TAG);
+        m_messaging_interface->recv(reinterpret_cast<char *>(buffer), 512, PC_ADDR, ACTUATOR_CMD_TAG);
         actuator->actuate(buffer);
     }
 }
+
+[[noreturn]] void LoopManager::metadata_tx_loop(char * args) {
+    const auto that = reinterpret_cast<LoopManager *>(args);
+    const auto topology_message_builder = std::make_unique<Flatbuffers::TopologyMessageBuilder>();
+    while (true) {
+        const auto [module_ids, orientations] =  that->m_messaging_interface->get_physically_connected_modules();
+        // todo: this is awful, we can't cast from a vector of orientation to int.... :(
+        std::vector<int8_t> casted_orientations{};
+        casted_orientations.reserve(orientations.size());
+        for (const auto orientation : orientations) {
+            casted_orientations.emplace_back(orientation);
+        }
+
+        const auto [data, size] = topology_message_builder->build_topology_message(ConfigManager::get_module_id(), ConfigManager::get_module_type(), module_ids, casted_orientations);
+        that->m_messaging_interface->send(static_cast<char *>(data), size, PC_ADDR, TOPOLOGY_CMD_TAG, true);
+        vTaskDelay(METADATA_PERIOD_MS / portTICK_PERIOD_MS);
+    }
+}

main/include/LoopManager.h

@@ -5,12 +5,21 @@
 #ifndef LOOPMANAGER_H
 #define LOOPMANAGER_H
 
+#include <memory>
+
+#include <MessagingInterface.h>
+
 #include "control/IActuator.h"
 #include "control/ActuatorFactory.h"
 
 class LoopManager {
 public:
-    [[noreturn]] static void control_loop();
+    LoopManager() : m_messaging_interface(std::make_unique<MessagingInterface>(std::make_unique<WifiManager>())) {}
+    [[noreturn]] void control_loop() const;
+    [[noreturn]] static void metadata_tx_loop(char * args);
+
+private:
+    std::unique_ptr<MessagingInterface> m_messaging_interface;
 
 private:
 

main/main.cpp

@@ -17,5 +17,8 @@ extern "C" [[noreturn]] void app_main(void) {
 
     ConfigManager::init_config();
 
-    LoopManager::control_loop();
+
+    const auto loop_manager = std::make_unique<LoopManager>();
+    xTaskCreate(reinterpret_cast<TaskFunction_t>(LoopManager::metadata_tx_loop), "metadata_tx", 3096, loop_manager.get(), 3, nullptr);
+    loop_manager->control_loop();
 }