botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

Reduce DataLink latency

Browse Source
This commit is contained in:
Johnathon Slightham
2026-01-27 22:16:24 -05:00
committed by Johnathon Slightham
parent f54063aa8c
commit c14c82ce9c
25 changed files with 801 additions and 757 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
main/LoopManager.cpp
View File

@@ -71,7 +71,9 @@
void LoopManager::send_sensor_reading(bool durable) const {
Flatbuffers::SensorMessageBuilder smb{};
// todo: get data from sensor
auto data = m_actuator->get_sensor_data();
const auto [ptr, size] = smb.build_sensor_message(data);
m_messaging_interface->send(reinterpret_cast<char *>(ptr), size, PC_ADDR, SENSOR_TAG, durable);
if (m_actuator) {
auto data = m_actuator->get_sensor_data();
const auto [ptr, size] = smb.build_sensor_message(data);
m_messaging_interface->send(reinterpret_cast<char *>(ptr), size, PC_ADDR, SENSOR_TAG, durable);
}
}