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UDP implementation

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This commit is contained in:
Johnathon Slightham
2026-01-06 14:02:56 -05:00
parent fe2f396817
commit cc8b23cd45
12 changed files with 388 additions and 86 deletions
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18
components/rpc/include/CommunicationRouter.h
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@@ -37,6 +37,7 @@ public:
m_config_manager(ConfigManager::get_instance()),
m_pc_connection(CommunicationFactory::create_connection_manager(m_config_manager.get_communication_method())),
m_lossless_server(CommunicationFactory::create_lossless_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_lossy_server(CommunicationFactory::create_lossy_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_data_link_manager(std::make_unique<DataLinkManager>(m_config_manager.get_module_id(), MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()])),
m_module_id(m_config_manager.get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()),
@@ -44,14 +45,14 @@ public:
OrientationDetection::init();
update_leader();
xTaskCreate(router_thread, "communication_router", 4096, this, 3, &this->m_router_thread);
xTaskCreate(router_thread, "router", 4096, this, 3, &this->m_router_thread);
const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()];
this->m_link_layer_threads.resize(num_channels);
for (int i = 0; i < num_channels; i++) {
auto *params = new link_layer_thread_params(this, i);
xTaskCreate(link_layer_thread, "communication_router_rmt", 4096, params, 3, &this->m_link_layer_threads[i]);
}
// const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()];
// this->m_link_layer_threads.resize(num_channels);
// for (int i = 0; i < num_channels; i++) {
// auto *params = new link_layer_thread_params(this, i);
// xTaskCreate(link_layer_thread, "router_rmt", 4096, params, 3, &this->m_link_layer_threads[i]);
// }
}
~CommunicationRouter();
@@ -65,7 +66,7 @@ public:
[[nodiscard]] uint8_t get_leader() const;
// todo: does this really need to be here (so i can access from thread)?
std::shared_ptr<PtrQueue<std::vector<uint8_t>>> m_tcp_rx_queue;
std::shared_ptr<PtrQueue<std::vector<uint8_t>>> m_tcp_rx_queue; // todo: this should probably be thread safe
std::function<void(char*, int)> m_rx_callback;
private:
TaskHandle_t m_router_thread = nullptr;
@@ -73,6 +74,7 @@ private:
std::unique_ptr<IConnectionManager> m_pc_connection;
std::vector<TaskHandle_t> m_link_layer_threads;
std::unique_ptr<IRPCServer> m_lossless_server;
std::unique_ptr<IRPCServer> m_lossy_server;
std::unique_ptr<DataLinkManager> m_data_link_manager;
uint8_t m_leader = 0;
uint8_t m_module_id;