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Initial integration with rmt (only wifi works rn)

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Johnathon Slightham
2025-07-12 22:45:57 -04:00
parent 6d2d646a0f
commit a6b8b57a3b
19 changed files with 412 additions and 56 deletions
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45
components/rpc/include/CommunicationRouter.h
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@@ -5,39 +5,70 @@
#ifndef COMMUNICATIONROUTER_H
#define COMMUNICATIONROUTER_H
#include <ConfigManager.h>
#include <functional>
#include <memory>
#include <chrono>
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "TCPServer.h"
#include "DataLinkManager.h"
#include "constants/tcp.h"
#include "constants/app_comms.h"
#include "constants/module.h"
#include"PtrQueue.h"
class CommunicationRouter {
class link_layer_thread_params {
public:
link_layer_thread_params(CommunicationRouter* router, const uint8_t channel) : router(router), channel(channel) {};
CommunicationRouter *router;
uint8_t channel;
};
public:
explicit CommunicationRouter(const std::function<void(char*, int)> &rx_callback)
: m_tcp_rx_queue(xQueueCreate(RX_QUEUE_SIZE, MAX_RX_BUFFER_SIZE)),
: m_tcp_rx_queue(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
m_rx_callback(rx_callback),
m_tcp_server(std::make_unique<TCPServer>(TCP_PORT, m_tcp_rx_queue)) {
m_tcp_server(std::make_unique<TCPServer>(TCP_PORT, m_tcp_rx_queue)),
m_module_id(ConfigManager::get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()){
update_leader();
xTaskCreate(router_thread, "communication_router", 2048, this, 3, &this->m_router_thread);
const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_id()];
this->m_link_layer_threads.resize(num_channels);
for (uint8_t i = 0; i < num_channels; i++) {
auto *params = new link_layer_thread_params(this, i);
xTaskCreate(link_layer_thread, "communication_router_rmt", 2048, &params, 3, &this->m_link_layer_threads[i]);
}
}
~CommunicationRouter();
[[noreturn]] static void router_thread(void *args);
[[noreturn]] static void link_layer_thread(void *args);
int send_msg(char* buffer, size_t length) const;
void update_leader();
void route(uint8_t *buffer, size_t length) const;
// todo: does this really need to be here (so i can access from thread)?
QueueHandle_t m_tcp_rx_queue;
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;
std::vector<TaskHandle_t> m_link_layer_threads;
std::unique_ptr<TCPServer> m_tcp_server;
std::unique_ptr<DataLinkManager> m_data_link_manager;
uint8_t m_leader;
uint8_t m_module_id;
std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
};
#endif //COMMUNICATIONROUTER_H