botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 09:37:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

Add a cache to data link layer for control frames with hash

Browse Source
This commit is contained in:
Johnathon Slightham
2026-03-02 01:46:24 -05:00
parent 1083d3e2c0
commit bb08a2f0ba
5 changed files with 271 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
components/rpc/MessagingInterface.cpp
View File

@@ -41,7 +41,8 @@ MessagingInterface::~MessagingInterface() {
int MessagingInterface::send(uint8_t* buffer, const size_t size, const uint8_t destination, const uint8_t tag, const bool durable) {
Flatbuffers::MPIMessageBuilder builder;
const auto [mpi_buffer, mpi_size] = builder.build_mpi_message(Messaging::MessageType_PTP, m_config_manager.get_module_id(), destination, m_sequence_number++, durable, tag, std::vector<uint8_t>(buffer, buffer + size));
const auto [mpi_buffer, mpi_size] = builder.build_mpi_message(Messaging::MessageType_PTP, m_config_manager.get_module_id(), destination, 0, durable, tag, std::vector<uint8_t>(buffer, buffer + size));
// Intentionally set sequence_number = 0 so that the messages can get cached
m_router->send_msg((uint8_t *)mpi_buffer, mpi_size);
return 0;