Various bugfixes

components/rpc/CommunicationRouter.cpp

@@ -24,17 +24,8 @@ CommunicationRouter::~CommunicationRouter() {
     const auto that = static_cast<CommunicationRouter *>(args);
 
     while (true) {
-        // todo: strange to have this here, but i dont want 4 threads calling it or a thread just for it.
-        if (std::chrono::system_clock::now() - that->m_last_leader_updated > std::chrono::seconds(15)) {
-            that->update_leader();
-        }
-
         const auto buffer = that->m_tcp_rx_queue->dequeue();
-
+        that->route(buffer->data(), buffer->size());
-        std::cout << "dequeued buffer" << std::endl;
-
-        that->m_rx_callback(reinterpret_cast<char *>(buffer->data()), buffer->size());
-        std::cout << "WiFi callback" << std::endl;
     }
 }
 
@@ -52,13 +43,18 @@ CommunicationRouter::~CommunicationRouter() {
         const auto err = that->m_data_link_manager->receive(reinterpret_cast<uint8_t *>(buffer), 512, &bytes_received, channel);
         that->m_data_link_manager->start_receive_frames(channel);
 
-        if (ESP_OK != err) {
+        // todo: do we only want one thread ever doing this?
+        if (std::chrono::system_clock::now() - that->m_last_leader_updated > std::chrono::seconds(15)) {
+            that->m_last_leader_updated = std::chrono::system_clock::now();
+            std::cout << "Updating leader" << std::endl;
+            that->update_leader();
+        }
+
+        if (ESP_OK != err || bytes_received < 1) {
             continue;
         }
 
         that->route(reinterpret_cast<uint8_t *>(buffer), bytes_received);
-
-        std::cout << "RMT callback" << std::endl;
     }
 }
 
@@ -79,7 +75,7 @@ void CommunicationRouter::update_leader() {
     for (int i = 0; i < table_size; i++) {
         const auto id = table[i].info.board_id;
         connected_module_ids.emplace_back(id);
-        if (max > id) {
+        if (id > max) { // todo: change this to be correct
             max = id;
         }
     }
@@ -95,19 +91,25 @@ void CommunicationRouter::update_leader() {
 
     this->m_leader = max;
 
+    if (this->m_leader == m_module_id) {
         mDNSDiscoveryService::set_connected_boards(connected_module_ids);
-
+    }
-    this->m_last_leader_updated = std::chrono::system_clock::now();
 }
 
 void CommunicationRouter::route(uint8_t* buffer, const size_t length) const {
     const auto& mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer);
 
     if (mpi_message->destination() == m_module_id) {
+        std::cout << "Routing to this module [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
         this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
     } else if (mpi_message->destination() == PC_ADDR && this->m_leader == m_module_id) {
+        std::cout << "Routing to wifi [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
         this->m_tcp_server->send_msg(reinterpret_cast<char *>(buffer), 512);
-    } else {
+    } else if (mpi_message->destination() == PC_ADDR) {
+        std::cout << "Routing to wireline for wifi [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
+        this->m_data_link_manager->send(this->m_leader, buffer, length, FrameType::MOTOR_TYPE, 0);
+    }else {
+        std::cout << "Routing to wireline [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
         this->m_data_link_manager->send(mpi_message->destination(), buffer, length, FrameType::MOTOR_TYPE, 0);
     }
 }

components/rpc/TCPServer.cpp

@@ -32,7 +32,7 @@ TCPServer::TCPServer(const int port, const std::shared_ptr<PtrQueue<std::vector<
     this->m_rx_queue = rx_queue;
     this->m_server_sock = 0;
 
-    xTaskCreate(tcp_server_task, "tcp_accept_server", 2048, this, 5, &this->m_task);
+    xTaskCreate(tcp_server_task, "tcp_accept_server", 3072, this, 5, &this->m_task);
     xTaskCreate(socket_monitor_thread, "tcp_rx", 4096, this, 5, &this->m_rx_task);
 }
 
@@ -148,7 +148,15 @@ TCPServer::~TCPServer() {
                     auto buffer = std::make_unique<std::vector<uint8_t>>();
                     buffer->resize(MAX_RX_BUFFER_SIZE);
 
-                    int len = recv(sock, buffer->data(), MAX_RX_BUFFER_SIZE, 0); // temp: for the null terminator
+                    uint32_t msg_size = 0;
+                    recv(sock, &msg_size, 4, MSG_WAITALL);
+                    if (msg_size < 1 || msg_size > 512) {
+                        continue;
+                    }
+
+                    printf("Message size: %ld\n", msg_size);
+
+                    int len = recv(sock, buffer->data(), msg_size, MSG_WAITALL);
                     if (len < 0) {
                         printf("Error occurred during receiving: errno %d\n", errno);
                         to_remove.emplace_back(sock);
@@ -203,7 +211,7 @@ bool TCPServer::authenticate_client(int sock) {
     return 0;
 }
 
-int TCPServer::send_msg(char *buffer, size_t length) const {
+int TCPServer::send_msg(char *buffer, uint32_t length) const {
     // todo: should we assign a unique rank to each pc?
 
     if (!is_network_connected()) {
@@ -212,6 +220,7 @@ int TCPServer::send_msg(char *buffer, size_t length) const {
 
     for (const auto client_sock : m_clients) {
         std::cout << "sending tcp" << std::endl;
+        send(client_sock, &length, 4, 0);
         send(client_sock, buffer, length, 0);
     }
 

components/rpc/WifiManager.cpp

@@ -4,6 +4,7 @@
 #include <esp_event.h>
 #include <freertos/semphr.h>
 #include <cstring>
+#include <mDNSDiscoveryService.h>
 
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
@@ -188,6 +189,7 @@ void WifiManager::wifi_event_handler(void *event_handler_arg, esp_event_base_t e
     } else if (WIFI_EVENT_STA_CONNECTED == event_id) {
         printf("Connected to wifi in station mode\n");
         that->update_state(wifi_state::connected);
+        mDNSDiscoveryService::setup();
     } else if (WIFI_EVENT_STA_DISCONNECTED == event_id) {
         printf("Station mode shutdown\n");
         xSemaphoreTake(that->m_mutex, portMAX_DELAY);
@@ -204,5 +206,8 @@ void WifiManager::wifi_event_handler(void *event_handler_arg, esp_event_base_t e
         printf("User connected to AP\n");
     } else if (WIFI_EVENT_AP_STADISCONNECTED == event_id) {
         printf("User disconnected from AP\n");
+    } else if (WIFI_EVENT_AP_START == event_id) {
+        mDNSDiscoveryService::setup();
+        printf("AP started\n");
     }
 }

components/rpc/include/CommunicationRouter.h

@@ -40,13 +40,13 @@ public:
             m_last_leader_updated(std::chrono::system_clock::now()){
         update_leader();
 
-        xTaskCreate(router_thread, "communication_router", 2048, this, 3, &this->m_router_thread);
+        xTaskCreate(router_thread, "communication_router", 4096, this, 3, &this->m_router_thread);
 
         const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_type()];
         this->m_link_layer_threads.resize(num_channels);
         for (uint8_t i = 0; i < num_channels; i++) {
             auto *params = new link_layer_thread_params(this, i);
-            xTaskCreate(link_layer_thread, "communication_router_rmt", 3096, params, 3, &this->m_link_layer_threads[i]);
+            xTaskCreate(link_layer_thread, "communication_router_rmt", 4096, params, 3, &this->m_link_layer_threads[i]);
         }
     }
 

components/rpc/include/TCPServer.h

@@ -19,7 +19,7 @@ class TCPServer : IRPCServer {
 public:
     TCPServer(int port, const std::shared_ptr<PtrQueue<std::vector<uint8_t>>>& rx_queue);
     ~TCPServer();
-    int send_msg(char* buffer, size_t length) const;
+    int send_msg(char* buffer, uint32_t length) const;
 
 private:
     bool authenticate_client(int client_sock);

components/rpc/include/mDNSDiscoveryService.h

@@ -13,7 +13,7 @@ public:
     ~mDNSDiscoveryService() = delete;
 
     static void setup();
-    static void set_connected_boards(std::vector<int>& boards);
+    static void set_connected_boards(const std::vector<int>& boards);
 };
 
 #endif //DISCOVERYSERVICE_H

components/rpc/mDNSDiscoveryService.cpp

@@ -12,6 +12,7 @@
 
 #include <string>
 #include <format>
+#include <iostream>
 #include <sstream>
 
 // todo: clean this up (strange to be a constructor) also need to add more details, need to add to routing table
@@ -32,11 +33,11 @@ void mDNSDiscoveryService::setup() {
     mdns_service_txt_set("_robotcontrol", "_tcp", service_txt_data, 3);
 }
 
-void mDNSDiscoveryService::set_connected_boards(std::vector<int>& boards) {
+void mDNSDiscoveryService::set_connected_boards(const std::vector<int>& boards) {
     std::stringstream ss;
 
     for (int i = 0; i < boards.size(); i++) {
-        ss << boards[i];
+        ss << std::to_string(boards[i]);
         if (i < boards.size() - 1) {
             ss << ',';
         }

main/LoopManager.cpp

@@ -16,11 +16,10 @@
     char buffer[512];
     while (true) {
         messaging_interface->recv(buffer, 512, 0, 1);
-        std::cout << buffer << std::endl;
+        //std::cout << buffer << std::endl;
 
-
+        std::string s = std::format("num {} bo", ConfigManager::get_module_id());
-        char s[21] = {'H', 'e', 'l', 'l', 'o', ' ', 'f', 'r', 'o', 'm', ' ', 't', 'h', 'e', ' ', 'B', 'O', 'A', 'R', 'D', '!' };
+        messaging_interface->send(s.data(), s.size(), 0, 2, true);
-        messaging_interface->send(s, 21, 5, 2, true);
 
         ESP_LOGI("MEM", "Free internal RAM: %d", heap_caps_get_free_size(MALLOC_CAP_8BIT));
         ESP_LOGI("MEM", "Free PSRAM: %d", heap_caps_get_free_size(MALLOC_CAP_SPIRAM));

main/main.cpp

@@ -16,6 +16,5 @@ extern "C" [[noreturn]] void app_main(void) {
     ESP_LOGI("MEM", "Free PSRAM: %d", heap_caps_get_free_size(MALLOC_CAP_SPIRAM));
 
     ConfigManager::init_config();
-    mDNSDiscoveryService::setup();
     LoopManager::control_loop();
 }