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components/flatbuffers/TopologyMessageBuilder.cpp

@@ -10,7 +10,9 @@ namespace Flatbuffers {
         const uint8_t module_id,
         const ModuleType module_type,
         const std::vector<uint8_t>& channel_to_module,
-        const std::vector<int8_t>& orientation_to_module) {
+        const std::vector<int8_t>& orientation_to_module,
+        const Messaging::ConnectionType connection_type,
+        const uint8_t leader) {
         builder_.Clear();
 
         const auto orientation_to_module_vector = builder_.CreateVector(orientation_to_module);
@@ -22,7 +24,9 @@ namespace Flatbuffers {
             module_type,
             channel_to_module.size(),
             channel_to_module_vector,
-            orientation_to_module_vector
+            orientation_to_module_vector,
+            connection_type,
+            leader
         );
 
         builder_.Finish(message);

components/flatbuffers/include/TopologyMessageBuilder.h

@@ -20,7 +20,9 @@ namespace Flatbuffers {
             uint8_t module_id,
             ModuleType module_type,
             const std::vector<uint8_t>& channel_to_module,
-            const std::vector<int8_t>& orientation_to_module);
+            const std::vector<int8_t>& orientation_to_module,
+            Messaging::ConnectionType connection_type,
+            uint8_t leader);
 
     private:
         flatbuffers::FlatBufferBuilder builder_;

components/rpc/CommunicationRouter.cpp

@@ -153,3 +153,7 @@ std::pair<std::vector<uint8_t>, std::vector<Orientation>> CommunicationRouter::g
 
     return { connected_module_ids, connected_module_orientations };
 }
+
+[[nodiscard]] uint8_t CommunicationRouter::get_leader() const {
+    return this->m_leader;
+}

components/rpc/MessagingInterface.cpp

@@ -66,3 +66,14 @@ void MessagingInterface::checkOrInsertTag(const uint8_t tag) {
 std::pair<std::vector<uint8_t>, std::vector<Orientation>> MessagingInterface::get_physically_connected_modules() const {
     return m_router->get_physically_connected_modules();
 }
+
+Messaging::ConnectionType MessagingInterface::get_connection_type() const {
+    if (this->m_router->get_leader() == m_config_manager.get_module_id()) {
+        return Messaging::ConnectionType_DIRECT;
+    }
+    return Messaging::ConnectionType_HOP;
+}
+
+uint8_t MessagingInterface::get_leader() const {
+    return this->m_router->get_leader();
+}

components/rpc/include/CommunicationRouter.h

@@ -55,15 +55,11 @@ public:
 
     [[noreturn]] static void router_thread(void *args);
     [[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;
-
+    [[nodiscard]] std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() const;
-    // pair of <module, mount orientation>
+    [[nodiscard]] uint8_t get_leader() const;
-    std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() 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;

components/rpc/include/MessagingInterface.h

@@ -7,6 +7,7 @@
 
 #include <memory>
 #include <unordered_map>
+#include <flatbuffers_generated/TopologyMessage_generated.h>
 
 #include "constants/app_comms.h"
 #include "CommunicationRouter.h"
@@ -26,6 +27,8 @@ public:
     int recv(char* buffer, int size, int source, int tag);
     int sendrecv(char* send_buffer, int send_size, int dest, int send_tag, char* recv_buffer, int recv_size, int recv_tag);
     std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() const;
+    Messaging::ConnectionType get_connection_type() const;
+    uint8_t get_leader() const;
 
 private:
     void handleRecv(const char* recv_buffer, int recv_size);

main/LoopManager.cpp

@@ -39,7 +39,13 @@
             casted_orientations.emplace_back(orientation);
         }
 
-        const auto [data, size] = topology_message_builder->build_topology_message(that->m_config_manager.get_module_id(), that->m_config_manager.get_module_type(), module_ids, casted_orientations);
+        const auto [data, size] = topology_message_builder->build_topology_message(
+            that->m_config_manager.get_module_id(),
+            that->m_config_manager.get_module_type(),
+            module_ids,
+            casted_orientations,
+            that->m_messaging_interface->get_connection_type(),
+            that->m_messaging_interface->get_leader());
         that->m_messaging_interface->send(static_cast<char *>(data), size, PC_ADDR, TOPOLOGY_CMD_TAG, true);
         vTaskDelay(METADATA_PERIOD_MS / portTICK_PERIOD_MS);
     }