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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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14
components/dataLink/include/DataLinkManager.h
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@@ -39,7 +39,7 @@ static const uint16_t crc16_table[256] = {
class DataLinkManager{
public:
DataLinkManager(uint8_t board_id);
DataLinkManager(uint8_t board_id, uint8_t num_channels);
~DataLinkManager();
esp_err_t send(uint8_t dest_board, uint8_t* data, uint16_t data_len, FrameType type, uint8_t curr_channel);
esp_err_t start_receive_frames(uint8_t curr_channel);
@@ -48,7 +48,8 @@ class DataLinkManager{
esp_err_t send_discover_frame();
private:
uint8_t this_board_id = 0;
std::priority_queue<Frame, std::vector<Frame>, FrameCompare> frame_queue; //create a priority queue
uint8_t num_channels = MAX_CHANNELS;
//std::priority_queue<Frame, std::vector<Frame>, FrameCompare> frame_queue; //create a priority queue - not in use
std::unique_ptr<RMTManager> phys_comms;
std::unordered_map<uint8_t, uint16_t> sequence_num_map;
@@ -56,7 +57,7 @@ class DataLinkManager{
esp_err_t get_board_id(uint8_t& board_id);
void print_binary(uint8_t byte);
void print_buffer_binary(const uint8_t* buffer, size_t length);
esp_err_t get_data_from_frame(uint8_t* data, size_t data_len, uint8_t* message, size_t* message_size);
esp_err_t get_data_from_frame(uint8_t* data, size_t data_len, uint8_t* message, size_t* message_size, frame_header* header);
esp_err_t geneate_crc_16(uint8_t* data, size_t data_len, uint16_t* crc);
//==== RIP related functions ====
@@ -69,7 +70,7 @@ class DataLinkManager{
*/
void init_rip();
esp_err_t rip_find_entry(uint8_t board_id, RIPRow** entry);
esp_err_t rip_find_entry(uint8_t board_id, RIPRow** entry, bool reserve_row);
esp_err_t rip_update_entry(uint8_t new_hop, uint8_t channel, RIPRow** entry);
esp_err_t rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t channel, RIPRow** entry);
esp_err_t rip_reset_entry_ttl(uint8_t board_id);
@@ -77,13 +78,12 @@ class DataLinkManager{
//this is stored locally with metadata `ttl`
// std::unordered_map<uint8_t, RIPRow> rip_table; //using a hash map to store the routes to other boards - will be used as we scale up
RIPRow rip_table[RIP_MAX_ROUTES]; //temp using a static array
uint8_t rip_table_valid_rows = 0;
void start_rip_tasks();
esp_err_t broadcast_rip_frame();
esp_err_t broadcast_rip_frame(bool manual_broadcast);
[[noreturn]] static void rip_broadcast_timer_function(void* args);
[[noreturn]] static void rip_ttl_decrement_task(void* args);
QueueHandle_t manual_broadcasts;
esp_err_t route_frame(uint8_t dest_id, uint8_t* channel_to_send);
};