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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 6ff185149d
commit 9bad7c4159
14 changed files with 493 additions and 67 deletions
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13
components/rpc/include/CommunicationRouter.h
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@@ -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;

1
components/rpc/include/MessagingInterface.h
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@@ -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);