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

link layer routing works

Browse Source
This commit is contained in:
Justin Chow
2025-07-11 12:39:35 -04:00
committed by Johnathon Slightham
parent 732f141e45
commit c57fbd53e7
6 changed files with 279 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
components/dataLink/include/DataLinkManager.h
View File

@@ -41,11 +41,12 @@ class DataLinkManager{
public:
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 send(uint8_t dest_board, uint8_t* data, uint16_t data_len, FrameType type, uint8_t flag);
esp_err_t start_receive_frames(uint8_t curr_channel);
esp_err_t receive(uint8_t* data, size_t data_len, size_t* recv_len, uint8_t curr_channel);
esp_err_t print_frame_info(uint8_t* data, size_t data_len, uint8_t* message);
esp_err_t send_discover_frame();
esp_err_t get_network_toplogy(RIPRow_public_matrix* matrix, size_t* matrix_size);
esp_err_t get_routing_table(RIPRow_public* table, size_t* table_size);
private:
uint8_t this_board_id = 0;
uint8_t num_channels = MAX_CHANNELS;
@@ -80,10 +81,12 @@ class DataLinkManager{
RIPRow rip_table[RIP_MAX_ROUTES]; //temp using a static array
void start_rip_tasks();
esp_err_t broadcast_rip_frame(bool manual_broadcast);
esp_err_t send_rip_frame(bool broadcast, uint8_t dest_id);
[[noreturn]] static void rip_broadcast_timer_function(void* args);
[[noreturn]] static void rip_ttl_decrement_task(void* args);
QueueHandle_t manual_broadcasts;
QueueHandle_t discovery_tables;
esp_err_t route_frame(uint8_t dest_id, uint8_t* channel_to_send);
};