Cleanup interfaces

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){
+    this->this_board_id = board_id;
-        //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->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;
     }
     

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<Messaging::TopologyMessage>(buffer);
-    }
 }

components/flatbuffers/include/TopologyMessageBuilder.h

@@ -23,8 +23,6 @@ namespace Flatbuffers {
             const std::vector<uint8_t>& channel_to_module,
             const std::vector<int8_t>& orientation_to_module);
 
-        static const Messaging::TopologyMessage* parse_topology_message(const uint8_t* buffer);
-
     private:
         flatbuffers::FlatBufferBuilder builder_;
     };

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;
     }
 

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) {

components/rpc/TCPServer.cpp

@@ -124,6 +124,8 @@ TCPServer::~TCPServer() {
     const auto that = static_cast<TCPServer *>(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<int> 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<std::vector<uint8_t>>();
@@ -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;
     }

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<int>& boards) = 0;
 }
 
 #endif //IDISCOVERYSERVICE_H

components/rpc/include/IMessagingInterface.h

@@ -1,8 +0,0 @@
-//
-// Created by Johnathon Slightham on 2025-05-25.
-//
-
-#ifndef IMESSAGINGINTERFACE_H
-#define IMESSAGINGINTERFACE_H
-
-#endif //IMESSAGINGINTERFACE_H

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