mirror of
https://github.com/BotChain-Robots/firmware.git
synced 2026-07-08 17:47:21 +02:00
Reduce DataLink latency
This commit is contained in:
@@ -13,7 +13,6 @@
|
||||
#include "MPIMessageBuilder.h"
|
||||
|
||||
MessagingInterface::~MessagingInterface() {
|
||||
vQueueDelete(m_mpi_rx_queue);
|
||||
vSemaphoreDelete(m_map_semaphore);
|
||||
|
||||
for (const auto queue: m_tag_to_queue | std::views::values) {
|
||||
@@ -52,8 +51,8 @@ int MessagingInterface::sendrecv(char* send_buffer, const int send_size, const i
|
||||
}
|
||||
|
||||
// todo: when handleRecv returns, remove from queue (from router)
|
||||
void MessagingInterface::handleRecv(const char* recv_buffer, int recv_size) {
|
||||
const auto mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(reinterpret_cast<const uint8_t *>(recv_buffer));
|
||||
void MessagingInterface::handleRecv(std::unique_ptr<std::vector<uint8_t>>&& buffer) {
|
||||
const auto mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer->data());
|
||||
|
||||
checkOrInsertTag(mpi_message->tag());
|
||||
|
||||
|
||||
Reference in New Issue
Block a user