Fix watchdog on rmt task

components/dataLink/DataLinkFrames.cpp

@@ -514,12 +514,21 @@ esp_err_t DataLinkManager::receive_rmt(uint8_t channel){
         res = link_layer_obj->start_receive_frames_rmt(i);
     }
     while(!link_layer_obj->stop_tasks){
+        bool any_received = false;
         for (uint8_t i = 0; i < link_layer_obj->num_channels; i++){
-            res = link_layer_obj->receive_rmt(i);
-            res = link_layer_obj->start_receive_frames_rmt(i);
+            esp_err_t r = link_layer_obj->receive_rmt(i);
+            if (r == ESP_OK){
+                any_received = true;
+            }
+            link_layer_obj->start_receive_frames_rmt(i);
+            taskYIELD(); // feed the watchdog and yield to other tasks between channel polls
         }
 
-        vTaskDelay(pdMS_TO_TICKS(RECEIVE_TASK_PERIOD_MS));
+        if (!any_received){
+            // Nothing received on any channel — sleep briefly to avoid busy-spinning
+            // and give the watchdog / idle task guaranteed CPU time.
+            vTaskDelay(pdMS_TO_TICKS(RECEIVE_TASK_PERIOD_MS));
+        }
     }
 
     vTaskDelete(nullptr);

components/dataLink/include/Scheduler.h

@@ -5,7 +5,7 @@
 
 #define SCHEDULER_MUTEX_WAIT 10 //max time duration to wait
 #define SCHEDULER_PERIOD_MS 10
-#define RECEIVE_TASK_PERIOD_MS 2
+#define RECEIVE_TASK_PERIOD_MS 5
 
 #define GENERIC_FRAME_SLIDING_WINDOW_SIZE 5 //defines the maximum size of the sliding window before resending previously un-ack'd fragments
 #define SLIDING_WINDOW_MUTEX_TIMEOUT_MS 5

components/rmt/RMTManager.cpp

@@ -579,9 +579,7 @@ esp_err_t RMTManager::receive(uint8_t* recv_buf, size_t size, size_t* output_siz
     }
 
     rmt_rx_done_event_data_t rx_data;
-    if (xQueueReceive(channels[channel_num].rx_queue, &rx_data, pdMS_TO_TICKS(5)) != pdTRUE){ //this will wait until a message has arrived or not
-        // printf("Timeout occurred while waiting for RX event\n");
-        // ESP_LOGE(DEBUG_TAG, "Timeout occurred while waiting for RX event - didn't receive a message in time");
+    if (xQueueReceive(channels[channel_num].rx_queue, &rx_data, 0) != pdTRUE){ // non-blocking poll
         return ESP_FAIL;
     }
 

main/include/LoopManager.h

@@ -33,6 +33,12 @@ public:
                std::vector<uint8_t> return_value(msg.begin(), msg.end());
                writer.write(return_value);
            });
+           const auto bandwidth_test_fn_tag = 101;
+           m_messaging_interface->register_function(bandwidth_test_fn_tag, [](const uint8_t *parameters, size_t parameter_size, Writer& writer) {
+               std::string msg = "";
+               std::vector<uint8_t> return_value(msg.begin(), msg.end());
+               writer.write(return_value);
+           });
        }
 
     MessagingInterface &get_messaging_interface();

main/main.cpp

@@ -21,6 +21,7 @@ extern "C" [[noreturn]] void app_main(void) {
     auto& config_manager = ConfigManager::get_instance(); // NOLINT - here for easily adding temporary config
     config_manager.set_communication_method(CommunicationMethod::Wireless);
 
+
     esp_log_set_vprintf(RemoteDebugging::custom_log_write);
 
     const auto loop_manager = std::make_unique<LoopManager>();