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Various fixes

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This commit is contained in:
Johnathon Slightham
2025-07-27 14:31:48 -04:00
parent d8696fa6fc
commit de44202196
6 changed files with 31 additions and 25 deletions
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16
components/dataLink/DataLinkManager.cpp
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@@ -176,7 +176,7 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
} }
}; };
// ESP_LOGI(DEBUG_LINK_TAG, "Sending %d bytes", offset); ESP_LOGI(DEBUG_LINK_TAG, "Sending %d bytes", offset);
// print_buffer_binary(send_data, frame_size); // print_buffer_binary(send_data, frame_size);
uint8_t channel_to_route = MAX_CHANNELS; uint8_t channel_to_route = MAX_CHANNELS;
@@ -192,7 +192,7 @@ esp_err_t DataLinkManager::send(uint8_t dest_board, uint8_t* data, uint16_t data
ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", new_frame.receiver_id); ESP_LOGE(DEBUG_LINK_TAG, "Failed to find entry for %d", new_frame.receiver_id);
return ESP_FAIL; return ESP_FAIL;
} }
// ESP_LOGI(DEBUG_LINK_TAG, "Sending message to %d", new_frame.receiver_id); ESP_LOGI(DEBUG_LINK_TAG, "Sending message to %d", new_frame.receiver_id);
phys_comms->send(send_data, offset, &config, channel_to_route); phys_comms->send(send_data, offset, &config, channel_to_route);
} }
@@ -271,6 +271,10 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
return ESP_FAIL; return ESP_FAIL;
} }
if (*recv_len < CONTROL_FRAME_OVERHEAD) {
return ESP_FAIL;
}
uint8_t* message = (uint8_t*)pvPortMalloc(CONTROL_FRAME_OVERHEAD + MAX_CONTROL_DATA_LEN); uint8_t* message = (uint8_t*)pvPortMalloc(CONTROL_FRAME_OVERHEAD + MAX_CONTROL_DATA_LEN);
if (message == nullptr){ if (message == nullptr){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to malloc for receive"); ESP_LOGE(DEBUG_LINK_TAG, "Failed to malloc for receive");
@@ -286,7 +290,7 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
} }
*recv_len = message_size; *recv_len = message_size;
memcpy(data, message, message_size); memcpy(data, message, message_size);
// ESP_LOGI(DEBUG_LINK_TAG, "Received frame of type 0x%X destined for board %d", GET_TYPE(header.type_flag), header.receiver_id); ESP_LOGI(DEBUG_LINK_TAG, "Received frame of type 0x%X destined for board %d", GET_TYPE(header.type_flag), header.receiver_id);
//check for a rip frame //check for a rip frame
if (static_cast<FrameType>(GET_TYPE(header.type_flag)) == FrameType::RIP_TABLE_CONTROL){ if (static_cast<FrameType>(GET_TYPE(header.type_flag)) == FrameType::RIP_TABLE_CONTROL){
@@ -295,7 +299,7 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_
for (size_t i = 0; i < message_size-1; i+=2){ for (size_t i = 0; i < message_size-1; i+=2){
uint8_t board_id = message[i]; uint8_t board_id = message[i];
uint8_t hops = message[i+1]; uint8_t hops = message[i+1];
// ESP_LOGI(DEBUG_LINK_TAG, "Received: board_id %d and number of hops %d on channel %d", board_id, hops, curr_channel); ESP_LOGI(DEBUG_LINK_TAG, "Received: board_id %d and number of hops %d on channel %d", board_id, hops, curr_channel);
RIPRow* entry = nullptr; RIPRow* entry = nullptr;
@@ -689,7 +693,7 @@ esp_err_t DataLinkManager::send_rip_frame(bool broadcast, uint8_t dest_id){
if (broadcast){ if (broadcast){
res = send(BROADCAST_ADDR, rip_message, message_idx, FrameType::RIP_TABLE_CONTROL, 0); res = send(BROADCAST_ADDR, rip_message, message_idx, FrameType::RIP_TABLE_CONTROL, 0);
} else { } else {
// ESP_LOGI(DEBUG_LINK_TAG, "replying to discovery request to board %d", dest_id); ESP_LOGI(DEBUG_LINK_TAG, "replying to discovery request to board %d", dest_id);
res = send(dest_id, rip_message, message_idx, FrameType::RIP_TABLE_CONTROL, FLAG_DISCOVERY); res = send(dest_id, rip_message, message_idx, FrameType::RIP_TABLE_CONTROL, FLAG_DISCOVERY);
} }
if (res != ESP_OK){ if (res != ESP_OK){
@@ -838,7 +842,7 @@ esp_err_t DataLinkManager::get_network_toplogy(RIPRow_public_matrix* matrix, siz
while(true){ while(true){
bool dummy; bool dummy;
xQueueReceive(link_layer_obj->manual_broadcasts, &dummy, pdMS_TO_TICKS(RIP_BROADCAST_INTERVAL)); //wait up to RIP_BROADCAST_INTERVAL ms xQueueReceive(link_layer_obj->manual_broadcasts, &dummy, pdMS_TO_TICKS(RIP_BROADCAST_INTERVAL)); //wait up to RIP_BROADCAST_INTERVAL ms
// ESP_LOGI(DEBUG_LINK_TAG, "Broadcasting table..."); //debug ESP_LOGI(DEBUG_LINK_TAG, "Broadcasting table..."); //debug
res = link_layer_obj->send_rip_frame(true, 0); res = link_layer_obj->send_rip_frame(true, 0);
if (res != ESP_OK){ if (res != ESP_OK){
ESP_LOGE(DEBUG_LINK_TAG, "Failed to broadcast rip frame"); ESP_LOGE(DEBUG_LINK_TAG, "Failed to broadcast rip frame");

23
components/flatbuffers/include/flatbuffers_generated/RobotModule_generated.h
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@@ -7,11 +7,11 @@
#include "flatbuffers/flatbuffers.h" #include "flatbuffers/flatbuffers.h"
// Ensure the included flatbuffers.h is the same version as when this file was // Ensure the included flatbuffers.h is the same version as when this file was
// generated, otherwise it may not be compatible. // // generated, otherwise it may not be compatible.
//static_assert(FLATBUFFERS_VERSION_MAJOR == 25 && // static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
// FLATBUFFERS_VERSION_MINOR == 2 && // FLATBUFFERS_VERSION_MINOR == 2 &&
// FLATBUFFERS_VERSION_REVISION == 10, // FLATBUFFERS_VERSION_REVISION == 10,
// "Non-compatible flatbuffers version included"); // "Non-compatible flatbuffers version included");
struct MotorState; struct MotorState;
struct MotorStateBuilder; struct MotorStateBuilder;
@@ -24,33 +24,36 @@ enum ModuleType : int8_t {
ModuleType_SERVO_1 = 1, ModuleType_SERVO_1 = 1,
ModuleType_DC_MOTOR = 2, ModuleType_DC_MOTOR = 2,
ModuleType_BATTERY = 3, ModuleType_BATTERY = 3,
ModuleType_SERVO_2 = 4,
ModuleType_MIN = ModuleType_SPLITTER, ModuleType_MIN = ModuleType_SPLITTER,
ModuleType_MAX = ModuleType_BATTERY ModuleType_MAX = ModuleType_SERVO_2
}; };
inline const ModuleType (&EnumValuesModuleType())[4] { inline const ModuleType (&EnumValuesModuleType())[5] {
static const ModuleType values[] = { static const ModuleType values[] = {
ModuleType_SPLITTER, ModuleType_SPLITTER,
ModuleType_SERVO_1, ModuleType_SERVO_1,
ModuleType_DC_MOTOR, ModuleType_DC_MOTOR,
ModuleType_BATTERY ModuleType_BATTERY,
ModuleType_SERVO_2
}; };
return values; return values;
} }
inline const char * const *EnumNamesModuleType() { inline const char * const *EnumNamesModuleType() {
static const char * const names[5] = { static const char * const names[6] = {
"SPLITTER", "SPLITTER",
"SERVO_1", "SERVO_1",
"DC_MOTOR", "DC_MOTOR",
"BATTERY", "BATTERY",
"SERVO_2",
nullptr nullptr
}; };
return names; return names;
} }
inline const char *EnumNameModuleType(ModuleType e) { inline const char *EnumNameModuleType(ModuleType e) {
if (::flatbuffers::IsOutRange(e, ModuleType_SPLITTER, ModuleType_BATTERY)) return ""; if (::flatbuffers::IsOutRange(e, ModuleType_SPLITTER, ModuleType_SERVO_2)) return "";
const size_t index = static_cast<size_t>(e); const size_t index = static_cast<size_t>(e);
return EnumNamesModuleType()[index]; return EnumNamesModuleType()[index];
} }

2
components/rmt/RMTManager.cpp
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@@ -642,7 +642,7 @@ int RMTManager::convert_symbols_to_char(rmt_symbol_word_t* symbols, size_t num,
} }
i++; i++;
} }
printf("output_index %d\n", output_index); // printf("output_index %d\n", output_index);
return (int)output_index; return (int)output_index;
} }

2
components/rmt/include/RMTManager.h
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@@ -114,7 +114,7 @@ class RMTManager{
//rx_receive_config //rx_receive_config
rmt_receive_config_t receive_config = { rmt_receive_config_t receive_config = {
.signal_range_min_ns = 100, .signal_range_min_ns = 200,
.signal_range_max_ns = 200 * 1000, .signal_range_max_ns = 200 * 1000,
.flags = { .flags = {
.en_partial_rx = true .en_partial_rx = true

11
components/rpc/CommunicationRouter.cpp
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@@ -137,13 +137,10 @@ std::pair<std::vector<uint8_t>, std::vector<Orientation>> CommunicationRouter::g
} }
} }
for (int i = 0; i < MAX_WIRED_CONNECTIONS; i++) { if (const auto id = connected_module_ids[0]; 0 == id) {
const auto id = connected_module_ids[i]; connected_module_orientations[0] = Orientation_Deg0;
// if (const auto id = connected_module_ids[i]; 0 == id) { } else {
// connected_module_orientations[i] = Orientation_Deg0; connected_module_orientations[0] = OrientationDetection::get_orientation(0);
// } else {
connected_module_orientations[i] = OrientationDetection::get_orientation(id);
// }
} }
return { connected_module_ids, connected_module_orientations }; return { connected_module_ids, connected_module_orientations };

2
main/control/ActuatorFactory.cpp
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@@ -15,6 +15,8 @@ std::unique_ptr<IActuator> ActuatorFactory::create_actuator(const ModuleType typ
switch (type) { switch (type) {
case ModuleType_SERVO_1: case ModuleType_SERVO_1:
return std::make_unique<Servo1Actuator>(); return std::make_unique<Servo1Actuator>();
case ModuleType_SERVO_2:
return std::make_unique<Servo1Actuator>();
case ModuleType_DC_MOTOR: case ModuleType_DC_MOTOR:
return std::make_unique<DCMotorActuator>(); return std::make_unique<DCMotorActuator>();
default: default: