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update link layer manager + rip + rmt

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This commit is contained in:
Justin Chow
2025-07-10 00:48:37 -04:00
committed by Johnathon Slightham
parent 1c4f8ae973
commit bb154e9578
9 changed files with 342 additions and 271 deletions
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283
components/dataLink/DataLinkManager.cpp
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@@ -8,9 +8,9 @@
*
* @param board_id Board ID of the current board. Will be written to the NVM under key "board" if not already written.
*/
DataLinkManager::DataLinkManager(uint8_t board_id){
DataLinkManager::DataLinkManager(uint8_t board_id, uint8_t num_channels = MAX_CHANNELS){
//init table for this board and set up link layer priority queue
phys_comms = std::make_unique<RMTManager>();
phys_comms = std::make_unique<RMTManager>(num_channels);
if (phys_comms == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "RMT object was not created. Link layer communications will not function.");
return;
@@ -22,11 +22,13 @@ DataLinkManager::DataLinkManager(uint8_t board_id){
set_board_id(this_board_id);
}
if (this_board_id != board_id){
//NVM board id is different from `board_id` -> update entry to the new board id
this_board_id = board_id;
set_board_id(this_board_id);
}
// if (this_board_id != board_id){
// //NVM board id is different from `board_id` -> update entry to the new board id
// this_board_id = board_id;
// set_board_id(this_board_id);
// }
this->num_channels = num_channels;
init_rip();
}
@@ -41,7 +43,6 @@ esp_err_t DataLinkManager::set_board_id(uint8_t board_id){
return ESP_FAIL;
}
nvs_handle_t handle;
esp_err_t res = nvs_open("board", NVS_READWRITE, &handle);
if (res != ESP_OK){
@@ -118,10 +119,12 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
return ESP_FAIL;
}
if (curr_channel >= MAX_CHANNELS){
if (curr_channel >= num_channels){
return ESP_FAIL;
}
esp_err_t res;
if (IS_CONTROL_FRAME(static_cast<uint8_t>(type))){
//control frame
if (data_len > MAX_CONTROL_DATA_LEN){
@@ -157,6 +160,7 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
send_data[offset++] = (new_frame.seq_num >> 8) & 0xFF;
send_data[offset++] = new_frame.type_flag;
send_data[offset++] = new_frame.data_len;
send_data[offset++] = (new_frame.data_len >> 8) & 0xFF;
memcpy(&send_data[offset], data, new_frame.data_len);
@@ -178,7 +182,18 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
// printf("sending message:\n");
// print_buffer_binary(send_data, frame_size);
phys_comms->send(send_data, offset, &config, curr_channel);
uint8_t channel_to_route = MAX_CHANNELS;
if (new_frame.receiver_id == BROADCAST_ADDR){
channel_to_route = curr_channel;
} else {
res = route_frame(new_frame.receiver_id, &channel_to_route);
if (res != ESP_OK){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", new_frame.receiver_id);
return ESP_FAIL;
}
}
phys_comms->send(send_data, offset, &config, channel_to_route);
//can wait for the rmt to finish
// esp_err_t res = phys_comms->wait_until_send_complete(curr_channel); //this cannot be here in deployment but until the RMT manager can hold this copy of data this will have to be here
@@ -219,7 +234,7 @@ void DataLinkManager::print_buffer_binary(const uint8_t* buffer, size_t length)
* @return esp_err_t
*/
esp_err_t DataLinkManager::start_receive_frames(uint8_t curr_channel){
if (curr_channel >= MAX_CHANNELS){
if (curr_channel >= num_channels){
return ESP_FAIL;
}
return phys_comms->start_receiving(curr_channel);
@@ -231,11 +246,13 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
return ESP_FAIL;
}
if (curr_channel >= MAX_CHANNELS){
if (curr_channel >= num_channels){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid channel");
return ESP_FAIL;
}
if (data_len < MAX_CONTROL_DATA_LEN + CONTROL_FRAME_OVERHEAD){
ESP_LOGE(DEBUG_LINK_TAG, "Receive data buffer len is too small");
return ESP_FAIL;
}
@@ -253,35 +270,46 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
return ESP_FAIL;
}
uint8_t* message = (uint8_t*)pvPortMalloc(CONTROL_FRAME_OVERHEAD + MAX_CONTROL_DATA_LEN);
if (message == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to malloc for receive");
return ESP_FAIL;
}
memset(message, 0, sizeof(message));
size_t message_size = 0;
frame_header header;
res = get_data_from_frame(data, *recv_len, message, &message_size, &header);
if (res != ESP_OK){
return ESP_FAIL;
}
ESP_LOGI(DEBUG_LINK_TAG, "Received frame destined for board %d", header.receiver_id);
//check for a rip frame
if (static_cast<FrameType>((data[5])) == FrameType::RIP_TABLE_CONTROL){
if (static_cast<FrameType>(header.type_flag) == FrameType::RIP_TABLE_CONTROL){
printf("Got a RIP frame\n");
uint8_t rip_message[rip_table_valid_rows*2] = {};
size_t rip_message_size = 0;
res = get_data_from_frame(data, *recv_len, rip_message, &rip_message_size);
if (res != ESP_OK){
return ESP_FAIL; //crc or data len failed
}
for (size_t i = 0; i < rip_message_size-1; i+=2){
uint8_t board_id = rip_message[i];
uint8_t hops = rip_message[i+1];
printf("Received: board_id %d and number of hops %d on channel %d\n", board_id, hops, curr_channel);
for (size_t i = 0; i < message_size-1; i+=2){
uint8_t board_id = message[i];
uint8_t hops = message[i+1];
ESP_LOGI(DEBUG_LINK_TAG, "Received: board_id %d and number of hops %d on channel %d", board_id, hops, curr_channel);
RIPRow* entry = nullptr;
res = rip_find_entry(board_id, &entry);
res = rip_find_entry(board_id, &entry, true);
if (res != ESP_OK){
return ESP_FAIL;
}
if (entry == nullptr){
printf("rip pointer\n");
return ESP_FAIL; //no room for more entries in the table
}
if (entry->valid == RIP_INVALID_ROW){
if (entry->valid == RIP_NEW_ROW){
//adding a new entry
rip_add_entry(board_id, hops + 1, curr_channel, &entry);
} else {
@@ -292,10 +320,18 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
*recv_len = 0;
}
//got frame but not destined for this board
if (header.receiver_id != this_board_id && header.receiver_id != BROADCAST_ADDR && header.seq_num != sequence_num_map[header.receiver_id]){
ESP_LOGI(DEBUG_LINK_TAG, "Sending message to board %d with message %s", header.receiver_id, message);
res = send(header.receiver_id, message, message_size, FrameType::DEBUG_CONTROL_TYPE, curr_channel);
*recv_len = 0;
return res;
}
return ESP_OK;
}
esp_err_t DataLinkManager::get_data_from_frame(uint8_t* data, size_t data_len, uint8_t* message, size_t* message_size){
esp_err_t DataLinkManager::get_data_from_frame(uint8_t* data, size_t data_len, uint8_t* message, size_t* message_size, frame_header* header){
if (data == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid data array");
return ESP_FAIL;
@@ -308,29 +344,31 @@ esp_err_t DataLinkManager::get_data_from_frame(uint8_t* data, size_t data_len, u
ESP_LOGE(DEBUG_LINK_TAG, "Invalid message size ptr");
return ESP_FAIL;
}
if (header == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Invalid header ptr");
return ESP_FAIL;
}
if (IS_CONTROL_FRAME(data[5])){
control_frame temp = {0};
header->preamble = data[0];
header->sender_id = data[1];
header->receiver_id = data[2];
header->seq_num = (uint16_t)data[3] | ((uint16_t)data[4] << 8);
header->type_flag = data[5];
header->data_len = (uint16_t)data[6] | ((uint16_t)data[7] << 8);
temp.preamble = data[0];
temp.sender_id = data[1];
temp.receiver_id = data[2];
temp.seq_num = (uint16_t)data[3] | ((uint16_t)data[4] << 8);
temp.type_flag = data[5];
temp.data_len = data[6];
if (temp.data_len > data_len){
if (header->data_len > data_len){
ESP_LOGE(DEBUG_LINK_TAG, "Mismatch data length in control frame");
return ESP_FAIL;
}
*message_size = temp.data_len;
*message_size = header->data_len;
memcpy(temp.data, &data[7], temp.data_len);
memcpy(message, &data[7], temp.data_len);
memcpy(message, &data[8], header->data_len);
geneate_crc_16(data, 7*sizeof(uint8_t) + temp.data_len, &temp.crc_16);
geneate_crc_16(data, 8*sizeof(uint8_t) + header->data_len, &header->crc_16);
if (((uint16_t)data[7 + temp.data_len] | ((uint16_t)data[8 + temp.data_len] << 8)) != temp.crc_16){
if (((uint16_t)data[8 + header->data_len] | ((uint16_t)data[9 + header->data_len] << 8)) != header->crc_16){
//CRC mismatch
ESP_LOGE(DEBUG_LINK_TAG, "CRC Mismatch");
return ESP_FAIL;
@@ -382,8 +420,10 @@ esp_err_t DataLinkManager::print_frame_info(uint8_t* data, size_t data_len, uint
size_t message_size;
frame_header temp;
// print_buffer_binary(data, data_len);
return get_data_from_frame(data, data_len, message, &message_size);
return get_data_from_frame(data, data_len, message, &message_size, &temp);
}
/**
@@ -400,6 +440,7 @@ void DataLinkManager::init_rip(){
.channel = MAX_CHANNELS + 1, //invalid channels
.ttl = 0,
.valid = RIP_INVALID_ROW,
.ttl_flush = 0,
.row_sem = NULL
};
@@ -415,26 +456,22 @@ void DataLinkManager::init_rip(){
rip_table[0].ttl = RIP_TTL_START;
rip_table[0].valid = 1;
rip_table_valid_rows++;
//temp debug
rip_table[1].info = {
.board_id = 69,
.hops = 69,
};
rip_table[1].channel = MAX_CHANNELS + 1;
rip_table[1].ttl = RIP_TTL_START;
rip_table[1].valid = 1;
rip_table_valid_rows++;
// rip_table[1].info = {
// .board_id = 2,
// .hops = 1,
// };
// rip_table[1].channel = 0;
// rip_table[1].ttl = RIP_TTL_START;
// rip_table[1].valid = 1;
rip_table[2].info = {
.board_id = 3,
.hops = 2,
};
rip_table[2].channel = MAX_CHANNELS + 1,
rip_table[2].ttl = RIP_TTL_START,
rip_table[2].valid = 1;
rip_table_valid_rows++;
// rip_table[2].info = {
// .board_id = 1,
// .hops = 2,
// };
// rip_table[2].channel = 0,
// rip_table[2].ttl = RIP_TTL_START,
// rip_table[2].valid = 1;
start_rip_tasks();
}
@@ -468,7 +505,7 @@ esp_err_t DataLinkManager::rip_reset_entry_ttl(uint8_t board_id){
esp_err_t res;
res = rip_find_entry(board_id, &entry);
res = rip_find_entry(board_id, &entry, false);
if (res != ESP_OK){
return ESP_FAIL;
}
@@ -497,14 +534,15 @@ esp_err_t DataLinkManager::rip_update_entry(uint8_t new_hop, uint8_t channel, RI
return ESP_FAIL;
}
if (new_hop < (*entry)->info.hops){
if ((*entry)->info.hops > new_hop && (*entry)->info.hops != RIP_MAX_HOPS + 1){ //no count to infinity if path is invalid
(*entry)->info.hops = new_hop;
(*entry)->channel = channel;
ESP_LOGI(DEBUG_LINK_TAG, "updated board_id %d now has hops %d from channel %d", (*entry)->info.board_id, (*entry)->info.hops, channel);
}
(*entry)->ttl = RIP_TTL_START;
(*entry)->valid = 1;
ESP_LOGI(DEBUG_LINK_TAG, "board_id %d now has hops %d from channel %d", (*entry)->info.board_id, (*entry)->info.hops, channel);
ESP_LOGI(DEBUG_LINK_TAG, "refreshed board_id %d ttl", (*entry)->info.board_id);
xSemaphoreGive((*entry)->row_sem);
@@ -512,37 +550,59 @@ esp_err_t DataLinkManager::rip_update_entry(uint8_t new_hop, uint8_t channel, RI
}
/**
* @brief Finds the board_id in the table. If board_id does not exist in the table, `entry` will contain an empty row to write into.
* @brief Finds the board_id in the table if it exists and stores that row in `entry`
* TODO: use an unordered map instead of an array?
*
* @param board_id
* @param entry
* @return esp_err_t
*/
esp_err_t DataLinkManager::rip_find_entry(uint8_t board_id, RIPRow** entry){
esp_err_t DataLinkManager::rip_find_entry(uint8_t board_id, RIPRow** entry, bool reserve_row = false){
RIPRow* free_slot = nullptr;
for (size_t i = 0; i < RIP_MAX_ROUTES; i++){
if (xSemaphoreTake(rip_table[i].row_sem, (TickType_t)RIP_MAX_SEM_WAIT) != pdTRUE){
return ESP_FAIL;
}
if (rip_table[i].valid != RIP_INVALID_ROW && rip_table[i].info.board_id == board_id){
if (rip_table[i].valid == RIP_VALID_ROW && rip_table[i].info.board_id == board_id){
*entry = &rip_table[i];
xSemaphoreGive(rip_table[i].row_sem);
break;
ESP_LOGI(DEBUG_LINK_TAG, "Found %d in table at row %d", board_id, i);
return ESP_OK;
}
if (rip_table[i].valid == RIP_INVALID_ROW){
*entry = &rip_table[i];
if (rip_table[i].valid == RIP_INVALID_ROW && free_slot == nullptr){
free_slot = &rip_table[i];
}
xSemaphoreGive(rip_table[i].row_sem);
}
ESP_LOGI(DEBUG_LINK_TAG, "Finished looking for %d in table", board_id);
if (!reserve_row){
return ESP_OK;
}
if (free_slot != nullptr){
if (xSemaphoreTake(free_slot->row_sem, RIP_MAX_SEM_WAIT) != pdTRUE) {
return ESP_FAIL;
}
// IMPORTANT: Mark it as taken so others don't grab it
free_slot->valid = RIP_NEW_ROW; // Or some other init state
free_slot->info.board_id = board_id;
*entry = free_slot;
xSemaphoreGive(free_slot->row_sem);
ESP_LOGI(DEBUG_LINK_TAG, "Reserved new entry for board %d", board_id);
}
return ESP_OK;
}
esp_err_t DataLinkManager::broadcast_rip_frame(){
esp_err_t DataLinkManager::broadcast_rip_frame(bool manual_broadcast = false){
//use the control frame for the demo (as the number of rows increase, we will need to use the generic frame)
//data will be [board_id (1), hops (1), board_id (2), hops (2), ...]
uint8_t rip_message[rip_table_valid_rows*2] = {};
uint8_t rip_message[RIP_MAX_ROUTES*2] = {};
size_t message_idx = 0;
for (size_t i = 0; i < RIP_MAX_ROUTES; i++){
@@ -552,15 +612,31 @@ esp_err_t DataLinkManager::broadcast_rip_frame(){
continue;
}
if (rip_table[i].info.hops == RIP_MAX_HOPS + 1){
//invalid hop, decrement counter
rip_table[i].ttl_flush--;
if (rip_table[i].ttl_flush == 0 && !manual_broadcast){
rip_table[i].valid = RIP_INVALID_ROW;
xSemaphoreGive(rip_table[i].row_sem);
continue;
}
}
// //test to ensure routing works
// if (rip_table[i].info.board_id == 25){
// rip_message[message_idx++] = 25;
// rip_message[message_idx++] = 10;
// } else {
rip_message[message_idx++] = rip_table[i].info.board_id;
rip_message[message_idx++] = rip_table[i].info.hops;
// }
xSemaphoreGive(rip_table[i].row_sem);
}
esp_err_t res;
for (uint8_t channel = 0; channel < MAX_CHANNELS; channel++){
ESP_LOGI(DEBUG_LINK_TAG, "sending type %x",static_cast<uint8_t>(FrameType::RIP_TABLE_CONTROL));
for (uint8_t channel = 0; channel < num_channels; channel++){
res = send(BROADCAST_ADDR, rip_message, message_idx, FrameType::RIP_TABLE_CONTROL, channel);
if (res != ESP_OK){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to send rip frame on channel %d", channel);
@@ -570,9 +646,35 @@ esp_err_t DataLinkManager::broadcast_rip_frame(){
return ESP_OK;
}
/**
* @brief Determines which channel to route the frame to, depending on the dest (board) id
*
* @param dest_id
* @param channel_to_send
* @return esp_err_t
*/
esp_err_t DataLinkManager::route_frame(uint8_t dest_id, uint8_t* channel_to_send){
RIPRow* entry = nullptr;
esp_err_t res;
res = rip_find_entry(dest_id, &entry, false);
if (entry == nullptr){
return ESP_FAIL;
}
if (res != ESP_OK){
return res;
}
*channel_to_send = entry->channel;
return ESP_OK;
}
[[noreturn]] void DataLinkManager::rip_broadcast_timer_function(void* args){
DataLinkManager* link_layer_obj = static_cast<DataLinkManager*>(args);
if (link_layer_obj == nullptr){
if (link_layer_obj == nullptr || link_layer_obj->manual_broadcasts == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "RIP Broadacst task failed to start due to invalid pointer");
vTaskDelete(nullptr);
}
@@ -581,9 +683,10 @@ esp_err_t DataLinkManager::broadcast_rip_frame(){
esp_err_t res;
while(true){
vTaskDelay(pdMS_TO_TICKS(RIP_BROADCAST_INTERVAL)); //wait RIP_BROADCAST_INTERVAL ms
bool dummy;
xQueueReceive(link_layer_obj->manual_broadcasts, &dummy, pdMS_TO_TICKS(RIP_BROADCAST_INTERVAL)); //wait up to RIP_BROADCAST_INTERVAL ms
ESP_LOGI(DEBUG_LINK_TAG, "Broadcasting table..."); //debug
res = link_layer_obj->broadcast_rip_frame();
res = link_layer_obj->broadcast_rip_frame(true);
if (res != ESP_OK){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to broadcast rip frame");
}
@@ -592,16 +695,16 @@ esp_err_t DataLinkManager::broadcast_rip_frame(){
[[noreturn]] void DataLinkManager::rip_ttl_decrement_task(void* args){
DataLinkManager* link_layer_obj = static_cast<DataLinkManager*>(args);
if (link_layer_obj == nullptr){
if (link_layer_obj == nullptr || link_layer_obj->manual_broadcasts == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "RIP Broadacst task failed to start due to invalid pointer");
vTaskDelete(nullptr);
}
ESP_LOGI(DEBUG_LINK_TAG, "Starting RIP ttl decrement task");
bool broadcast = false;
while(true){
vTaskDelay(pdMS_TO_TICKS(RIP_MS_TO_SEC)); //run every second
for (size_t i = 0; i < RIP_MAX_ROUTES; i++){
ESP_LOGI(DEBUG_LINK_TAG, "Decrementing ttl on entry %d", i);
// ESP_LOGI(DEBUG_LINK_TAG, "Decrementing ttl on entry %d", i);
if (xSemaphoreTake(link_layer_obj->rip_table[i].row_sem, (TickType_t)RIP_MAX_SEM_WAIT) !=pdTRUE){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to get sem from entry %d", i);
continue;
@@ -610,14 +713,26 @@ esp_err_t DataLinkManager::broadcast_rip_frame(){
xSemaphoreGive(link_layer_obj->rip_table[i].row_sem);
continue;
}
if (link_layer_obj->rip_table[i].ttl == 0){
link_layer_obj->rip_table[i].valid = RIP_INVALID_ROW;
} else {
if (link_layer_obj->rip_table[i].ttl != 0){
// link_layer_obj->rip_table[i].valid = RIP_INVALID_ROW;
// ESP_LOGI(DEBUG_LINK_TAG, "Entry %d now has ttl %d", i, link_layer_obj->rip_table[i].ttl);
// } else {
link_layer_obj->rip_table[i].ttl--;
}
ESP_LOGI(DEBUG_LINK_TAG, "Entry %d now has ttl %d", i, link_layer_obj->rip_table[i].ttl);
if (link_layer_obj->rip_table[i].ttl == 0){
link_layer_obj->rip_table[i].info.hops = RIP_MAX_HOPS + 1;
link_layer_obj->rip_table[i].ttl_flush = RIP_FLUSH_COUNT;
broadcast = true;
}
}
xSemaphoreGive(link_layer_obj->rip_table[i].row_sem);
}
if (broadcast && uxQueueMessagesWaiting(link_layer_obj->manual_broadcasts) == 0){
broadcast = false;
bool dummy = true;
xQueueSend(link_layer_obj->manual_broadcasts, &dummy, 0);
}
}
}
@@ -628,8 +743,10 @@ esp_err_t DataLinkManager::broadcast_rip_frame(){
* - start a task to periodically decrement the ttl values of each row in the RIP table (WIP) - this will require some sort of mutex on the table itself
*/
void DataLinkManager::start_rip_tasks(){
manual_broadcasts = xQueueCreate(1, sizeof(bool));
ESP_LOGI(DEBUG_LINK_TAG, "Starting RIP Broadcast task");
xTaskCreate(DataLinkManager::rip_broadcast_timer_function, "RIPBroadcastTask", 4096, static_cast<void*>(this), 5, NULL);
xTaskCreate(DataLinkManager::rip_broadcast_timer_function, "RIPBroadcast", 2048, static_cast<void*>(this), 5, NULL);
ESP_LOGI(DEBUG_LINK_TAG, "Starting RIP TTL task");
xTaskCreate(DataLinkManager::rip_ttl_decrement_task, "RIPTTLTask", 4096, static_cast<void*>(this), 5, NULL);
xTaskCreate(DataLinkManager::rip_ttl_decrement_task, "RIPTTL", 2048, static_cast<void*>(this), 5, NULL);
}