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Fix communication router

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This commit is contained in:
Johnathon Slightham
2025-07-13 20:48:00 -04:00
parent 78a17af883
commit f94f3bbc8b
4 changed files with 19 additions and 22 deletions
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29
components/rpc/CommunicationRouter.cpp
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@@ -24,17 +24,8 @@ CommunicationRouter::~CommunicationRouter() {
const auto that = static_cast<CommunicationRouter *>(args);
while (true) {
// todo: strange to have this here, but i dont want 4 threads calling it or a thread just for it.
if (std::chrono::system_clock::now() - that->m_last_leader_updated > std::chrono::seconds(15)) {
that->update_leader();
}
const auto buffer = that->m_tcp_rx_queue->dequeue();
std::cout << "dequeued buffer" << std::endl;
that->m_rx_callback(reinterpret_cast<char *>(buffer->data()), buffer->size());
std::cout << "WiFi callback" << std::endl;
that->route(buffer->data(), buffer->size());
}
}
@@ -52,13 +43,18 @@ CommunicationRouter::~CommunicationRouter() {
const auto err = that->m_data_link_manager->receive(reinterpret_cast<uint8_t *>(buffer), 512, &bytes_received, channel);
that->m_data_link_manager->start_receive_frames(channel);
if (ESP_OK != err) {
// todo: do we only want one thread ever doing this?
if (std::chrono::system_clock::now() - that->m_last_leader_updated > std::chrono::seconds(15)) {
that->m_last_leader_updated = std::chrono::system_clock::now();
std::cout << "Updating leader" << std::endl;
that->update_leader();
}
if (ESP_OK != err || bytes_received < 1) {
continue;
}
that->route(reinterpret_cast<uint8_t *>(buffer), bytes_received);
std::cout << "RMT callback" << std::endl;
}
}
@@ -79,7 +75,7 @@ void CommunicationRouter::update_leader() {
for (int i = 0; i < table_size; i++) {
const auto id = table[i].info.board_id;
connected_module_ids.emplace_back(id);
if (max > id) {
if (id > max) { // todo: change this to be correct
max = id;
}
}
@@ -98,18 +94,19 @@ void CommunicationRouter::update_leader() {
if (this->m_leader == m_module_id) {
mDNSDiscoveryService::set_connected_boards(connected_module_ids);
}
this->m_last_leader_updated = std::chrono::system_clock::now();
}
void CommunicationRouter::route(uint8_t* buffer, const size_t length) const {
const auto& mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer);
if (mpi_message->destination() == m_module_id) {
std::cout << "Routing to this module [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
} else if (mpi_message->destination() == PC_ADDR && this->m_leader == m_module_id) {
std::cout << "Routing to wifi [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
this->m_tcp_server->send_msg(reinterpret_cast<char *>(buffer), 512);
} else {
std::cout << "Routing to wireline [dest:" << static_cast<int>(mpi_message->destination()) << ", length: " << length << "]" << std::endl;
this->m_data_link_manager->send(mpi_message->destination(), buffer, length, FrameType::MOTOR_TYPE, 0);
}
}