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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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9
components/rpc/include/MessagingInterface.h
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@@ -9,6 +9,7 @@
#include <unordered_map>
#include <flatbuffers_generated/TopologyMessage_generated.h>
#include "BlockingQueue.h"
#include "constants/app_comms.h"
#include "CommunicationRouter.h"
@@ -16,8 +17,8 @@ class MessagingInterface {
public:
explicit MessagingInterface()
: m_config_manager(ConfigManager::get_instance()),
m_mpi_rx_queue(xQueueCreate(MAX_RX_BUFFER_SIZE, RX_QUEUE_SIZE)),
m_router(std::make_unique<CommunicationRouter>([this](const char* buffer, const int size) { handleRecv(buffer, size); })),
m_mpi_rx_queue(std::make_unique<BlockingQueue<std::unique_ptr<std::vector<uint8_t>>>>(RX_QUEUE_SIZE)),
m_router(std::make_unique<CommunicationRouter>([this](std::unique_ptr<std::vector<uint8_t>>&& buffer) { handleRecv(std::move(buffer)); })),
m_map_semaphore(xSemaphoreCreateMutex()) {};
~MessagingInterface();
@@ -31,13 +32,13 @@ public:
uint8_t get_leader() const;
private:
void handleRecv(const char* recv_buffer, int recv_size);
void handleRecv(std::unique_ptr<std::vector<uint8_t>>&& buffer);
void checkOrInsertTag(uint8_t tag);
ConfigManager& m_config_manager;
uint16_t m_sequence_number = 0;
QueueHandle_t m_mpi_rx_queue; // todo: maybe move this down classes more
std::unique_ptr<BlockingQueue<std::unique_ptr<std::vector<uint8_t>>>> m_mpi_rx_queue;
std::unique_ptr<CommunicationRouter> m_router;
SemaphoreHandle_t m_map_semaphore;
std::unordered_map<uint8_t, QueueHandle_t> m_tag_to_queue;