botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

Fix communication router

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

4
components/rpc/include/CommunicationRouter.h
View File

@@ -40,13 +40,13 @@ public:
m_last_leader_updated(std::chrono::system_clock::now()){
update_leader();
xTaskCreate(router_thread, "communication_router", 2048, this, 3, &this->m_router_thread);
xTaskCreate(router_thread, "communication_router", 3072, this, 3, &this->m_router_thread);
const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[ConfigManager::get_module_type()];
this->m_link_layer_threads.resize(num_channels);
for (uint8_t i = 0; i < num_channels; i++) {
auto *params = new link_layer_thread_params(this, i);
xTaskCreate(link_layer_thread, "communication_router_rmt", 3096, params, 3, &this->m_link_layer_threads[i]);
xTaskCreate(link_layer_thread, "communication_router_rmt", 3072, params, 3, &this->m_link_layer_threads[i]);
}
}