diff --git a/components/dataLink/DataLinkManager.cpp b/components/dataLink/DataLinkManager.cpp index 9038106..6c2393c 100644 --- a/components/dataLink/DataLinkManager.cpp +++ b/components/dataLink/DataLinkManager.cpp @@ -1,12 +1,11 @@ #include "DataLinkManager.h" #include "RMTManager.h" #include "esp_log.h" -#include "nvs_flash.h" /** * @brief Construct a new Data Link Manager:: Data Link Manager object * - * @param board_id Board ID of the current board. Will be written to the NVM under key "board" if not already written. + * @param board_id Board ID of the current board. */ DataLinkManager::DataLinkManager(uint8_t board_id, uint8_t num_channels = MAX_CHANNELS){ //init table for this board and set up link layer priority queue @@ -16,18 +15,7 @@ DataLinkManager::DataLinkManager(uint8_t board_id, uint8_t num_channels = MAX_CH return; } - // if (get_board_id(this_board_id) != ESP_OK){ - //failed to read from NVM for board id under key "board". Will write a new entry - this_board_id = board_id; - set_board_id(this_board_id); - // } - - // if (this_board_id != board_id){ - // //NVM board id is different from `board_id` -> update entry to the new board id - // this_board_id = board_id; - // set_board_id(this_board_id); - // } - + this->this_board_id = board_id; this->num_channels = num_channels; init_rip(); @@ -37,63 +25,6 @@ DataLinkManager::~DataLinkManager(){ phys_comms.reset(); //not strictly necessary to do this explicitly } -esp_err_t DataLinkManager::set_board_id(uint8_t board_id){ - if (board_id == BROADCAST_ADDR || board_id == PC_ADDR){ - ESP_LOGE(DEBUG_LINK_TAG, "Invalid board id"); - return ESP_FAIL; - } - - nvs_handle_t handle; - esp_err_t res = nvs_open("board", NVS_READWRITE, &handle); - if (res != ESP_OK){ - ESP_LOGE(DEBUG_LINK_TAG, "Failed to open NVS Handle"); - return res; - } - - res = nvs_set_u8(handle, "id", board_id); - if (res != ESP_OK){ - ESP_LOGE(DEBUG_LINK_TAG, "Failed to write ID %d to NVM", board_id); - nvs_close(handle); - return res; - } - - res = nvs_commit(handle); - if (res != ESP_OK){ - ESP_LOGE(DEBUG_LINK_TAG, "Failed to commit write"); - nvs_close(handle); - return res; - } - - this_board_id = board_id; - printf("Successfully wrote %d to NVM\n", board_id); - - nvs_close(handle); - - return ESP_OK; -} - -esp_err_t DataLinkManager::get_board_id(uint8_t& board_id){ - nvs_handle_t handle; - esp_err_t res = nvs_open("board", NVS_READWRITE, &handle); - if (res != ESP_OK){ - ESP_LOGE(DEBUG_LINK_TAG, "Failed to open NVS Handle"); - return res; - } - - res = nvs_get_u8(handle, "id", &board_id); - if (res != ESP_OK){ - ESP_LOGE(DEBUG_LINK_TAG, "Failed to get ID from NVM. Please make sure NVM is already assigned a board id!"); - nvs_close(handle); - return res; - } - - printf("Successfully got board id %d from NVM\n", board_id); - - nvs_close(handle); - - return ESP_OK; -} - /** * @brief Sends a frame to another board (node to node communication) via RMT (physical layer) * @@ -274,7 +205,7 @@ esp_err_t DataLinkManager::receive(uint8_t* data, size_t data_len, size_t* recv_ esp_err_t res = phys_comms->receive(data, data_len, recv_len, curr_channel); if (res != ESP_OK){ - ESP_LOGE(DEBUG_LINK_TAG, "RMT Failed to receive"); + ESP_LOGW(DEBUG_LINK_TAG, "RMT Failed to receive"); return ESP_ERR_TIMEOUT; } diff --git a/components/flatbuffers/TopologyMessageBuilder.cpp b/components/flatbuffers/TopologyMessageBuilder.cpp index dc7cbb3..9a933da 100644 --- a/components/flatbuffers/TopologyMessageBuilder.cpp +++ b/components/flatbuffers/TopologyMessageBuilder.cpp @@ -30,8 +30,4 @@ namespace Flatbuffers { return {builder_.GetBufferPointer(), builder_.GetSize()}; } - - const Messaging::TopologyMessage* TopologyMessageBuilder::parse_topology_message(const uint8_t* buffer) { - return flatbuffers::GetRoot(buffer); - } } diff --git a/components/flatbuffers/include/TopologyMessageBuilder.h b/components/flatbuffers/include/TopologyMessageBuilder.h index e0aeae6..07fb34c 100644 --- a/components/flatbuffers/include/TopologyMessageBuilder.h +++ b/components/flatbuffers/include/TopologyMessageBuilder.h @@ -23,8 +23,6 @@ namespace Flatbuffers { const std::vector& channel_to_module, const std::vector& orientation_to_module); - static const Messaging::TopologyMessage* parse_topology_message(const uint8_t* buffer); - private: flatbuffers::FlatBufferBuilder builder_; }; diff --git a/components/rmt/RMTManager.cpp b/components/rmt/RMTManager.cpp index 912ef35..b944c14 100644 --- a/components/rmt/RMTManager.cpp +++ b/components/rmt/RMTManager.cpp @@ -572,7 +572,7 @@ esp_err_t RMTManager::receive(uint8_t* recv_buf, size_t size, size_t* output_siz rmt_rx_done_event_data_t rx_data; if (xQueueReceive(channels[channel_num].rx_queue, &rx_data, pdMS_TO_TICKS(15000)) != pdTRUE){ //this will wait until a message has arrived or not // printf("Timeout occurred while waiting for RX event\n"); - ESP_LOGE(DEBUG_TAG, "Timeout occurred while waiting for RX event - didn't receive a message in time"); + ESP_LOGW(DEBUG_TAG, "Timeout occurred while waiting for RX event - didn't receive a message in time"); return ESP_FAIL; } diff --git a/components/rpc/CommunicationRouter.cpp b/components/rpc/CommunicationRouter.cpp index 7729747..67fdca6 100644 --- a/components/rpc/CommunicationRouter.cpp +++ b/components/rpc/CommunicationRouter.cpp @@ -100,6 +100,13 @@ void CommunicationRouter::update_leader() { } void CommunicationRouter::route(uint8_t* buffer, const size_t length) const { + flatbuffers::Verifier verifier(buffer, length); + bool ok = Messaging::VerifyMPIMessageBuffer(verifier); + if (!ok) { // This could be moved to just be called on wireline data to save cpu cycles. + ESP_LOGW(TAG, "route: got an invalid MPI message, disregarding"); + return; + } + const auto& mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer); if (mpi_message->destination() == m_module_id) { diff --git a/components/rpc/TCPServer.cpp b/components/rpc/TCPServer.cpp index 23eaffc..d6cfe7e 100644 --- a/components/rpc/TCPServer.cpp +++ b/components/rpc/TCPServer.cpp @@ -124,6 +124,8 @@ TCPServer::~TCPServer() { const auto that = static_cast(args); while (true) { + vTaskDelay(0); // Avoid starving other threads + fd_set readfds; FD_ZERO(&readfds); int max_fd = -1; @@ -135,13 +137,18 @@ TCPServer::~TCPServer() { } xSemaphoreGive(that->m_mutex); - timeval timeout = {1, 0}; // 1 second timeout + // todo: Select seems to be timing out the watchdog, even though we have a 50ms timeout. + // Potentially select is not respecting our timeout? + timeval timeout = {0, 50000}; // 50 ms timeout int ret = select(max_fd + 1, &readfds, nullptr, nullptr, &timeout); + vTaskDelay(0); // Avoid starving other threads + if (ret > 0) { xSemaphoreTake(that->m_mutex, portMAX_DELAY); std::vector to_remove; for (int sock : that->m_clients) { + vTaskDelay(0); // Avoid starving other threads if (FD_ISSET(sock, &readfds)) { // Handle socket auto buffer = std::make_unique>(); @@ -159,7 +166,7 @@ TCPServer::~TCPServer() { ESP_LOGE(TAG, "Error occurred during receiving: errno %d\n", errno); to_remove.emplace_back(sock); } else if (0 == len) { - ESP_LOGW(TAG, "Connection closed\n"); + ESP_LOGI(TAG, "TCP Connection closed\n"); close(sock); to_remove.emplace_back(sock); } else { @@ -210,8 +217,6 @@ bool TCPServer::authenticate_client(int sock) { } int TCPServer::send_msg(char *buffer, uint32_t length) const { - // todo: should we assign a unique rank to each pc? - if (!is_network_connected()) { return -1; } diff --git a/components/rpc/include/IDiscoveryService.h b/components/rpc/include/IDiscoveryService.h index ea4541e..fcf0fd2 100644 --- a/components/rpc/include/IDiscoveryService.h +++ b/components/rpc/include/IDiscoveryService.h @@ -6,7 +6,10 @@ #define IDISCOVERYSERVICE_H class IDiscoveryService { - +public: + virtual ~IDiscoveryService() = default; + virtual static void setup() = 0; + virtual static void set_connected_boards(const std::vector& boards) = 0; } #endif //IDISCOVERYSERVICE_H diff --git a/components/rpc/include/IMessagingInterface.h b/components/rpc/include/IMessagingInterface.h deleted file mode 100644 index 9b5b657..0000000 --- a/components/rpc/include/IMessagingInterface.h +++ /dev/null @@ -1,8 +0,0 @@ -// -// Created by Johnathon Slightham on 2025-05-25. -// - -#ifndef IMESSAGINGINTERFACE_H -#define IMESSAGINGINTERFACE_H - -#endif //IMESSAGINGINTERFACE_H diff --git a/components/rpc/include/IRPCServer.h b/components/rpc/include/IRPCServer.h index 9de70a1..ed91386 100644 --- a/components/rpc/include/IRPCServer.h +++ b/components/rpc/include/IRPCServer.h @@ -6,7 +6,9 @@ #define IRPCSERVER_H class IRPCServer { - +public: + virtual ~IRPCServer() = default; + virtual int send_msg(char* buffer, uint32_t length) const = 0; }; #endif //IRPCSERVER_H