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Re-enable rmt

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This commit is contained in:
Johnathon Slightham
2026-01-06 16:35:13 -05:00
parent 14875aafa2
commit b4f737b0ca
2 changed files with 177 additions and 178 deletions
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243
components/rpc/CommunicationRouter.cpp
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@@ -1,162 +1,163 @@
#include <iostream>
#include "CommunicationRouter.h"
#include "AngleControlMessageBuilder.h"
#include "include/wireless/mDNSDiscoveryService.h"
#include "CommunicationRouter.h"
#include "MPIMessageBuilder.h"
#include "include/wireless/WifiManager.h"
#include "freertos/FreeRTOS.h"
#include "Tables.h"
#include "PtrQueue.h"
#include "OrientationDetection.h"
#include "PtrQueue.h"
#include "Tables.h"
#include "constants/module.h"
#include "freertos/FreeRTOS.h"
#include "freertos/idf_additions.h"
#include "freertos/projdefs.h"
#include "include/wireless/WifiManager.h"
#include "include/wireless/mDNSDiscoveryService.h"
#define TAG "CommunicationRouter"
CommunicationRouter::~CommunicationRouter() {
vTaskDelete(m_router_thread);
}
CommunicationRouter::~CommunicationRouter() { vTaskDelete(m_router_thread); }
// todo: we really need to change all char to uint8_t everywhere
// todo: get rid of copying going on, need to pass around sharedptrs/uniqueptrs
[[noreturn]] void CommunicationRouter::router_thread(void *args) {
const auto that = static_cast<CommunicationRouter *>(args);
const auto that = static_cast<CommunicationRouter *>(args);
while (true) {
const auto buffer = that->m_tcp_rx_queue->dequeue();
ESP_LOGD(TAG, "Got message from TCP");
that->route(buffer->data(), buffer->size());
}
while (true) {
const auto buffer = that->m_tcp_rx_queue->dequeue();
ESP_LOGD(TAG, "Got message from TCP");
that->route(buffer->data(), buffer->size());
}
}
[[noreturn]] void CommunicationRouter::link_layer_thread(void *args) {
const auto* params = static_cast<link_layer_thread_params *>(args);
const auto that = params->router;
const auto channel = params->channel;
delete params;
const auto that = static_cast<CommunicationRouter *>(args);
size_t bytes_received = 0;
that->m_data_link_manager->start_receive_frames(channel);
while (true) {
char buffer[512];
const auto err = that->m_data_link_manager->receive(reinterpret_cast<uint8_t *>(buffer), 512, &bytes_received, channel);
that->m_data_link_manager->start_receive_frames(channel);
while (true) {
for (uint8_t channel = 0;
channel <
MODULE_TO_NUM_CHANNELS_MAP[that->m_config_manager.get_module_type()];
channel++) {
uint16_t frame_size = 0;
FrameHeader frame_header{};
if (ESP_OK != that->m_data_link_manager->async_receive_info(
&frame_size, &frame_header, channel) ||
0 == frame_size) {
continue;
}
// todo: do we only want one thread ever doing this?
if (std::chrono::system_clock::now() - that->m_last_leader_updated > std::chrono::seconds(15)) {
that->m_last_leader_updated = std::chrono::system_clock::now();
ESP_LOGI(TAG, "Updating leader");
that->update_leader();
}
if (ESP_OK != err || bytes_received < 1) {
continue;
}
ESP_LOGD(TAG, "Got message from RMT");
that->route(reinterpret_cast<uint8_t *>(buffer), bytes_received);
std::vector<uint8_t> data{};
data.resize(frame_size);
that->m_data_link_manager->async_receive(data.data(), frame_size,
&frame_header, channel);
that->route(data.data(), frame_size);
}
vTaskDelay(pdMS_TO_TICKS(50));
}
}
int CommunicationRouter::send_msg(char* buffer, const size_t length) const {
ESP_LOGD(TAG, "Got message from application");
route(reinterpret_cast<uint8_t *>(buffer), length);
return 0;
int CommunicationRouter::send_msg(char *buffer, const size_t length) const {
ESP_LOGD(TAG, "Got message from application");
route(reinterpret_cast<uint8_t *>(buffer), length);
return 0;
}
void CommunicationRouter::update_leader() {
RIPRow_public table[RIP_MAX_ROUTES];
size_t table_size = RIP_MAX_ROUTES;
this->m_data_link_manager->get_routing_table(table, &table_size);
RIPRow_public table[RIP_MAX_ROUTES];
size_t table_size = RIP_MAX_ROUTES;
this->m_data_link_manager->get_routing_table(table, &table_size);
// Leader election (just get the highest id in rip)
std::vector<int> connected_module_ids;
uint8_t max = m_module_id;
for (int i = 0; i < table_size; i++) {
const auto id = table[i].info.board_id;
connected_module_ids.emplace_back(id);
if (id > max) { // todo: change this to be correct
max = id;
}
// Leader election (just get the highest id in rip)
std::vector<int> connected_module_ids;
uint8_t max = m_module_id;
for (int i = 0; i < table_size; i++) {
const auto id = table[i].info.board_id;
connected_module_ids.emplace_back(id);
if (id > max) { // todo: change this to be correct
max = id;
}
}
// Leader has changed, we may need to change PC connection state
if (this->m_leader != max) {
if (max == m_module_id) {
m_pc_connection->connect();
m_lossless_server->startup();
m_lossy_server->startup();
} else if (this->m_leader == m_module_id) {
m_pc_connection->disconnect();
m_lossless_server->shutdown();
m_lossless_server->shutdown();
}
// Leader has changed, we may need to change PC connection state
if (this->m_leader != max) {
if (max == m_module_id) {
m_pc_connection->connect();
m_lossless_server->startup();
m_lossy_server->startup();
} else if (this->m_leader == m_module_id) {
m_pc_connection->disconnect();
m_lossless_server->shutdown();
m_lossless_server->shutdown();
}
}
this->m_leader = max;
this->m_leader = max;
if (this->m_leader == m_module_id) {
this->m_discovery_service->set_connected_boards(connected_module_ids);
}
if (this->m_leader == m_module_id) {
this->m_discovery_service->set_connected_boards(connected_module_ids);
}
}
void CommunicationRouter::route(uint8_t* buffer, const size_t length) const {
flatbuffers::Verifier verifier(buffer, length);
// This could be moved to just be called on wireline data to save cpu cycles.
if (bool ok = Messaging::VerifyMPIMessageBuffer(verifier); !ok) {
ESP_LOGW(TAG, "route: got an invalid MPI message, disregarding");
return;
}
void CommunicationRouter::route(uint8_t *buffer, const size_t length) const {
flatbuffers::Verifier verifier(buffer, length);
// This could be moved to just be called on wireline data to save cpu cycles.
if (bool ok = Messaging::VerifyMPIMessageBuffer(verifier); !ok) {
ESP_LOGW(TAG, "route: got an invalid MPI message, disregarding");
return;
}
if (const auto& mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer); mpi_message->destination() == m_module_id) {
ESP_LOGD(TAG, "Routing to this module [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
} else if (mpi_message->destination() == PC_ADDR && this->m_leader == m_module_id) {
ESP_LOGD(TAG, "Routing to wifi [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
if (mpi_message->is_durable()) {
this->m_lossless_server->send_msg(reinterpret_cast<char *>(buffer), 512);
} else {
this->m_lossy_server->send_msg(reinterpret_cast<char *>(buffer), 512);
}
} else if (mpi_message->destination() == PC_ADDR) {
ESP_LOGD(TAG, "Routing to wireline for wifi [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
this->m_data_link_manager->send(this->m_leader, buffer, length, FrameType::MOTOR_TYPE, 0);
}else {
ESP_LOGD(TAG, "Routing to wireline [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length);
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;
}
}
if (const auto id = connected_module_ids[0]; 0 == id) {
connected_module_orientations[0] = Orientation_Deg0;
if (const auto &mpi_message =
Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer);
mpi_message->destination() == m_module_id) {
this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
} else if (mpi_message->destination() == PC_ADDR &&
this->m_leader == m_module_id) {
if (mpi_message->is_durable()) {
this->m_lossless_server->send_msg(reinterpret_cast<char *>(buffer), 512);
} else {
connected_module_orientations[0] = OrientationDetection::get_orientation(0);
this->m_lossy_server->send_msg(reinterpret_cast<char *>(buffer), 512);
}
} else if (mpi_message->destination() == PC_ADDR) {
this->m_data_link_manager->send(this->m_leader, buffer, length,
FrameType::MOTOR_TYPE, 0);
} else {
this->m_data_link_manager->send(mpi_message->destination(), buffer, length,
FrameType::MOTOR_TYPE, 0);
}
}
return { connected_module_ids, connected_module_orientations };
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;
}
}
if (const auto id = connected_module_ids[0]; 0 == id) {
connected_module_orientations[0] = Orientation_Deg0;
} else {
connected_module_orientations[0] = OrientationDetection::get_orientation(0);
}
return {connected_module_ids, connected_module_orientations};
}
[[nodiscard]] uint8_t CommunicationRouter::get_leader() const {
return this->m_leader;
return this->m_leader;
}

112
components/rpc/include/CommunicationRouter.h
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@@ -7,79 +7,77 @@
#ifndef COMMUNICATIONROUTER_H
#define COMMUNICATIONROUTER_H
#include <chrono>
#include <functional>
#include <memory>
#include <chrono>
#include "CommunicationFactory.h"
#include "IDiscoveryService.h"
#include "ConfigManager.h"
#include "OrientationDetection.h"
#include "wireless/WifiManager.h"
#include "wireless/TCPServer.h"
#include "DataLinkManager.h"
#include "constants/module.h"
#include "IDiscoveryService.h"
#include "OrientationDetection.h"
#include "PtrQueue.h"
#include "constants/module.h"
#include "wireless/TCPServer.h"
#include "wireless/WifiManager.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(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
m_rx_callback(rx_callback),
m_config_manager(ConfigManager::get_instance()),
m_pc_connection(CommunicationFactory::create_connection_manager(m_config_manager.get_communication_method())),
m_lossless_server(CommunicationFactory::create_lossless_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_lossy_server(CommunicationFactory::create_lossy_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_data_link_manager(std::make_unique<DataLinkManager>(m_config_manager.get_module_id(), MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()])),
m_module_id(m_config_manager.get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()),
m_discovery_service(CommunicationFactory::create_discovery_service(m_config_manager.get_communication_method())){
OrientationDetection::init();
update_leader();
explicit CommunicationRouter(
const std::function<void(char *, int)> &rx_callback)
: m_tcp_rx_queue(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
m_rx_callback(rx_callback),
m_config_manager(ConfigManager::get_instance()),
m_pc_connection(CommunicationFactory::create_connection_manager(
m_config_manager.get_communication_method())),
m_lossless_server(CommunicationFactory::create_lossless_server(
m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_lossy_server(CommunicationFactory::create_lossy_server(
m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_data_link_manager(std::make_unique<DataLinkManager>(
m_config_manager.get_module_id(),
MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()])),
m_module_id(m_config_manager.get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()),
m_discovery_service(CommunicationFactory::create_discovery_service(
m_config_manager.get_communication_method())) {
OrientationDetection::init();
update_leader();
xTaskCreate(router_thread, "router", 4096, this, 3, &this->m_router_thread);
xTaskCreate(router_thread, "router", 4096, this, 3, &this->m_router_thread);
xTaskCreate(link_layer_thread, "router_rmt", 4096, this, 3,
&this->m_link_layer_thread);
}
// const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()];
// this->m_link_layer_threads.resize(num_channels);
// for (int i = 0; i < num_channels; i++) {
// auto *params = new link_layer_thread_params(this, i);
// xTaskCreate(link_layer_thread, "router_rmt", 4096, params, 3, &this->m_link_layer_threads[i]);
// }
}
~CommunicationRouter();
~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;
[[nodiscard]] std::pair<std::vector<uint8_t>, std::vector<Orientation>>
get_physically_connected_modules() const;
[[nodiscard]] uint8_t get_leader() const;
[[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;
[[nodiscard]] std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() const;
[[nodiscard]] uint8_t get_leader() 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; // todo: this should probably be thread safe
std::function<void(char *, int)> m_rx_callback;
// 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; // todo: this should probably be thread safe
std::function<void(char*, int)> m_rx_callback;
private:
TaskHandle_t m_router_thread = nullptr;
ConfigManager &m_config_manager;
std::unique_ptr<IConnectionManager> m_pc_connection;
std::vector<TaskHandle_t> m_link_layer_threads;
std::unique_ptr<IRPCServer> m_lossless_server;
std::unique_ptr<IRPCServer> m_lossy_server;
std::unique_ptr<DataLinkManager> m_data_link_manager;
uint8_t m_leader = 0;
uint8_t m_module_id;
std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
std::unique_ptr<IDiscoveryService> m_discovery_service;
TaskHandle_t m_router_thread = nullptr;
TaskHandle_t m_link_layer_thread = nullptr;
ConfigManager &m_config_manager;
std::unique_ptr<IConnectionManager> m_pc_connection;
std::unique_ptr<IRPCServer> m_lossless_server;
std::unique_ptr<IRPCServer> m_lossy_server;
std::unique_ptr<DataLinkManager> m_data_link_manager;
uint8_t m_leader = 0;
uint8_t m_module_id;
std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
std::unique_ptr<IDiscoveryService> m_discovery_service;
};
#endif //COMMUNICATIONROUTER_H
#endif // COMMUNICATIONROUTER_H