Cleanup rpc interfaces

components/rpc/include/CommunicationFactory.h

@@ -0,0 +1,27 @@
+//
+// Created by Johnathon Slightham on 2025-10-22.
+//
+
+// Although we currently only support wireless, this is architected to be easy to add other connection methods
+
+#ifndef COMMUNICATIONFACTORY_H
+#define COMMUNICATIONFACTORY_H
+
+#include <memory>
+#include <vector>
+
+#include "IConnectionManager.h"
+#include "IDiscoveryService.h"
+#include "IRPCServer.h"
+#include "PtrQueue.h"
+#include "enums.h"
+
+class CommunicationFactory {
+public:
+    static std::unique_ptr<IConnectionManager> create_connection_manager(CommunicationMethod type);
+    static std::unique_ptr<IDiscoveryService> create_discovery_service(CommunicationMethod type);
+    static std::unique_ptr<IRPCServer> create_lossy_server(CommunicationMethod type, const std::shared_ptr<PtrQueue<std::vector<uint8_t>>> &rx_queue);
+    static std::unique_ptr<IRPCServer> create_lossless_server(CommunicationMethod type, const std::shared_ptr<PtrQueue<std::vector<uint8_t>>>& rx_queue);
+};
+
+#endif //COMMUNICATIONFACTORY_H

components/rpc/include/CommunicationRouter.h

@@ -2,6 +2,8 @@
 // Created by Johnathon Slightham on 2025-05-25.
 //
 
+// todo: this class is getting a bit large
+
 #ifndef COMMUNICATIONROUTER_H
 #define COMMUNICATIONROUTER_H
 
@@ -9,13 +11,13 @@
 #include <memory>
 #include <chrono>
 
+#include "CommunicationFactory.h"
+#include "IDiscoveryService.h"
 #include "ConfigManager.h"
 #include "OrientationDetection.h"
-#include "WifiManager.h"
-#include "freertos/FreeRTOS.h"
-#include "TCPServer.h"
+#include "wireless/WifiManager.h"
+#include "wireless/TCPServer.h"
 #include "DataLinkManager.h"
-#include "constants/tcp.h"
 #include "constants/module.h"
 #include "PtrQueue.h"
 
@@ -29,15 +31,16 @@ class CommunicationRouter {
     };
 
 public:
-    CommunicationRouter(const std::function<void(char*, int)> &rx_callback, std::unique_ptr<WifiManager>&& pc_connection)
+    explicit CommunicationRouter(const std::function<void(char*, int)> &rx_callback)
         : m_tcp_rx_queue(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
             m_rx_callback(rx_callback),
             m_config_manager(ConfigManager::get_instance()),
-            m_tcp_server(std::make_unique<TCPServer>(TCP_PORT, m_tcp_rx_queue)),
+            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_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_pc_connection(std::move(pc_connection)),
             m_module_id(m_config_manager.get_module_id()),
-            m_last_leader_updated(std::chrono::system_clock::now()){
+            m_last_leader_updated(std::chrono::system_clock::now()),
+            m_discovery_service(CommunicationFactory::create_discovery_service(m_config_manager.get_communication_method())){
         OrientationDetection::init();
         update_leader();
 
@@ -67,13 +70,14 @@ public:
 private:
     TaskHandle_t m_router_thread = nullptr;
     ConfigManager &m_config_manager;
+    std::unique_ptr<IConnectionManager> m_pc_connection;
     std::vector<TaskHandle_t> m_link_layer_threads;
-    std::unique_ptr<TCPServer> m_tcp_server; // todo: dependency injection
+    std::unique_ptr<IRPCServer> m_lossless_server;
     std::unique_ptr<DataLinkManager> m_data_link_manager;
-    std::unique_ptr<WifiManager> m_pc_connection; // todo: change to dependency inject
     uint8_t m_leader = 0;
     uint8_t m_module_id;
     std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
+    std::unique_ptr<IDiscoveryService> m_discovery_service;
 };
 
 #endif //COMMUNICATIONROUTER_H

components/rpc/include/IConnectionManager.h

@@ -2,12 +2,12 @@
 // Created by Johnathon Slightham on 2025-05-26.
 //
 
-#ifndef IWIFIMANAGER_H
-#define IWIFIMANAGER_H
+#ifndef ICONNECTIONMANAGER_H
+#define ICONNECTIONMANAGER_H
 
-class IWifiManager {
+class IConnectionManager{
 public:
-    virtual ~IWifiManager() = default;
+    virtual ~IConnectionManager() = default;
     virtual int connect() = 0;
     virtual int disconnect() = 0;
 };

components/rpc/include/IDiscoveryService.h

@@ -8,8 +8,8 @@
 class IDiscoveryService {
 public:
     virtual ~IDiscoveryService() = default;
-    virtual static void setup() = 0;
-    virtual static void set_connected_boards(const std::vector<int>& boards) = 0;
-}
+
+    virtual void set_connected_boards(const std::vector<int>& boards) = 0;
+};
 
 #endif //IDISCOVERYSERVICE_H

components/rpc/include/MessagingInterface.h

@@ -14,10 +14,10 @@
 
 class MessagingInterface {
 public:
-    explicit MessagingInterface(std::unique_ptr<WifiManager>&& pc_connection)
+    explicit MessagingInterface()
         : m_config_manager(ConfigManager::get_instance()),
             m_mpi_rx_queue(xQueueCreate(MAX_RX_BUFFER_SIZE, RX_QUEUE_SIZE)),
-            m_router(std::make_unique<CommunicationRouter>([this](const char* buffer, const int size) { handleRecv(buffer, size); }, std::move(pc_connection))),
+            m_router(std::make_unique<CommunicationRouter>([this](const char* buffer, const int size) { handleRecv(buffer, size); })),
             m_map_semaphore(xSemaphoreCreateMutex()) {};
 
     ~MessagingInterface();

components/rpc/include/RPCFactory.h

@@ -1,14 +0,0 @@
-//
-// Created by Johnathon Slightham on 2025-05-25.
-//
-
-#ifndef RPCFACTORY_H
-#define RPCFACTORY_H
-
-class RPCFactory {
-public:
-static std::shared_ptr<IRPCServer> createRPCServer() {
-    return std::make_shared<TCPServer>();
-}
-
-#endif //RPCFACTORY_H

components/rpc/include/mDNSDiscoveryService.h

@@ -1,19 +0,0 @@
-//
-// Created by Johnathon Slightham on 2025-05-25.
-//
-
-#ifndef DISCOVERYSERVICE_H
-#define DISCOVERYSERVICE_H
-
-#include <vector>
-
-class mDNSDiscoveryService final {
-public:
-    mDNSDiscoveryService() = delete;
-    ~mDNSDiscoveryService() = delete;
-
-    static void setup();
-    static void set_connected_boards(const std::vector<int>& boards);
-};
-
-#endif //DISCOVERYSERVICE_H

components/rpc/include/wireless/TCPServer.h

@@ -13,7 +13,7 @@
 #include "IRPCServer.h"
 #include "PtrQueue.h"
 
-class TCPServer final : IRPCServer {
+class TCPServer final : public IRPCServer {
 public:
     TCPServer(int port, const std::shared_ptr<PtrQueue<std::vector<uint8_t>>>& rx_queue);
     ~TCPServer() override;

components/rpc/include/wireless/WifiManager.h

@@ -8,9 +8,9 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
 #include "ConfigManager.h"
-#include "IWifiManager.h"
+#include "IConnectionManager.h"
 
-class WifiManager final : IWifiManager {
+class WifiManager final : public IConnectionManager {
 public:
   WifiManager() : m_config_manager(ConfigManager::get_instance()),
                   m_mutex(xSemaphoreCreateMutex()),

components/rpc/include/wireless/mDNSDiscoveryService.h

@@ -0,0 +1,20 @@
+//
+// Created by Johnathon Slightham on 2025-05-25.
+//
+
+#ifndef DISCOVERYSERVICE_H
+#define DISCOVERYSERVICE_H
+
+#include <vector>
+
+#include "IDiscoveryService.h"
+
+class mDNSDiscoveryService final : public IDiscoveryService {
+public:
+    mDNSDiscoveryService();
+    ~mDNSDiscoveryService() override;
+
+    void set_connected_boards(const std::vector<int>& boards) override;
+};
+
+#endif //DISCOVERYSERVICE_H