From d4602012f1269dfe71ad780daece7fc900736391 Mon Sep 17 00:00:00 2001
From: Johnathon Slightham <slighthamj@gmail.com>
Date: Wed, 4 Mar 2026 11:35:46 -0500
Subject: [PATCH] Update code for demo

---
 components/dataLink/DataLinkManager.cpp   | 7 +++----
 components/dataLink/DataLinkScheduler.cpp | 4 ++--
 main/RemoteDebugging.cpp                  | 5 +++--
 3 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/components/dataLink/DataLinkManager.cpp b/components/dataLink/DataLinkManager.cpp
index 75a8a1b..bee3c2d 100644
--- a/components/dataLink/DataLinkManager.cpp
+++ b/components/dataLink/DataLinkManager.cpp
@@ -50,8 +50,9 @@ DataLinkManager::DataLinkManager(uint8_t board_id, uint8_t num_channels = MAX_CH
     init_rip();
     init_scheduler();
 
-    // Start the periodic LUT flush task
-    xTaskCreate(lut_flush_task, "lut_flush", 2048, this, 2, &lut_flush_task_handle);
+    // Start the periodic LUT flush task (priority 1 – below all other link-layer tasks
+    // to avoid preempting tasks that hold internal C++ or FreeRTOS locks)
+    xTaskCreate(lut_flush_task, "lut_flush", 2048, this, 1, &lut_flush_task_handle);
 }
 
 /**
@@ -319,7 +320,6 @@ void DataLinkManager::lut_insert(uint32_t hash, const uint8_t* message, size_t m
  */
 void DataLinkManager::lut_flush(){
     if (xSemaphoreTake(control_frame_lut_mutex, pdMS_TO_TICKS(SEQUENCE_NUM_MAP_MUTEX_MAX_WAIT_MS)) != pdTRUE){
-        ESP_LOGW(DEBUG_LINK_TAG, "LUT flush: could not acquire mutex, skipping");
         return;
     }
 
@@ -330,7 +330,6 @@ void DataLinkManager::lut_flush(){
     }
 
     xSemaphoreGive(control_frame_lut_mutex);
-    ESP_LOGI(DEBUG_LINK_TAG, "Control-frame LUT flushed");
 }
 
 /**
diff --git a/components/dataLink/DataLinkScheduler.cpp b/components/dataLink/DataLinkScheduler.cpp
index e60ab75..0e024e7 100644
--- a/components/dataLink/DataLinkScheduler.cpp
+++ b/components/dataLink/DataLinkScheduler.cpp
@@ -128,7 +128,7 @@ esp_err_t DataLinkManager::scheduler_send(uint8_t channel){
     size_t frame_size = isControlFrame ? sizeof(ControlFrame) : sizeof(GenericFrame);
     uint8_t send_data[frame_size];
 
-    ESP_LOGI(DEBUG_LINK_TAG, "Sending frame on channel %d, type: %s", channel, isControlFrame ? "Control" : "Generic");
+    // ESP_LOGI(DEBUG_LINK_TAG, "Sending frame on channel %d, type: %s", channel, isControlFrame ? "Control" : "Generic");
 
     if (isControlFrame){
         //control frame
@@ -291,7 +291,7 @@ esp_err_t DataLinkManager::scheduler_send_rmt(uint8_t channel, SchedulerMetadata
             ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", frame.header.receiver_id);
             return ESP_FAIL;
         }
-        ESP_LOGI(DEBUG_LINK_TAG, "Sending frame %d on channel %d to board %d frag_info 0x%X", frame.header.seq_num, channel, frame.header.receiver_id, frame.header.frag_info);
+        // ESP_LOGI(DEBUG_LINK_TAG, "Sending frame %d on channel %d to board %d frag_info 0x%X", frame.header.seq_num, channel, frame.header.receiver_id, frame.header.frag_info);
         res = phys_comms->send(send_data, frame_size, &config, channel_to_route);
         // if (wait_for_tx_done){
         //     phys_comms->wait_until_send_complete(channel_to_route);
diff --git a/main/RemoteDebugging.cpp b/main/RemoteDebugging.cpp
index ba746a8..178e418 100644
--- a/main/RemoteDebugging.cpp
+++ b/main/RemoteDebugging.cpp
@@ -19,8 +19,9 @@ std::string RemoteDebugging::get_task_manager() {
 
 std::string RemoteDebugging::get_logs() {
     std::string out;
-    for (const auto& log : log_buffer->peek_drain()) {
-        out.append(log);
+    auto logs = log_buffer->peek_drain();
+    for (auto it = logs.rbegin(); it != logs.rend(); ++it) {
+        out.append(*it);
     }
     out.resize(800);
     return out;