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Reduce DataLink latency

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This commit is contained in:
Johnathon Slightham
2026-01-27 22:16:24 -05:00
parent 663a7ef262
commit fc25c026b2
25 changed files with 801 additions and 757 deletions
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16
components/rpc/include/CommunicationRouter.h
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@@ -21,13 +21,15 @@
#include "wireless/TCPServer.h"
#include "wireless/WifiManager.h"
#define MAX_NETWORK_QUEUE_SIZE 10
class CommunicationRouter {
public:
explicit CommunicationRouter(
const std::function<void(char *, int)> &rx_callback)
: m_tcp_rx_queue(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
m_rx_callback(rx_callback),
const std::function<void(std::unique_ptr<std::vector<uint8_t>>&&)> &rx_callback)
: m_tcp_rx_queue(std::make_shared<BlockingQueue<std::unique_ptr<std::vector<uint8_t>>>>(MAX_NETWORK_QUEUE_SIZE)),
m_rx_callback(std::move(rx_callback)),
m_config_manager(ConfigManager::get_instance()),
m_pc_connection(CommunicationFactory::create_connection_manager(
m_config_manager.get_communication_method())),
@@ -56,15 +58,15 @@ public:
[[noreturn]] static void link_layer_thread(void *args);
int send_msg(char *buffer, size_t length) const;
void update_leader();
void route(uint8_t *buffer, size_t length) const;
void route(std::unique_ptr<std::vector<uint8_t>>&& buffer) const;
void route(uint8_t* buffer, size_t size) const;
[[nodiscard]] std::pair<std::vector<uint8_t>, std::vector<Orientation>>
get_physically_connected_modules() const;
[[nodiscard]] uint8_t get_leader() const;
// todo: does this really need to be here (so i can access from thread)?
std::shared_ptr<PtrQueue<std::vector<uint8_t>>>
m_tcp_rx_queue; // todo: this should probably be thread safe
std::function<void(char *, int)> m_rx_callback;
std::shared_ptr<BlockingQueue<std::unique_ptr<std::vector<uint8_t>>>> m_tcp_rx_queue;
std::function<void(std::unique_ptr<std::vector<std::uint8_t>>)> m_rx_callback;
private:
TaskHandle_t m_router_thread = nullptr;