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Re-enable rmt

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Johnathon Slightham
2026-01-06 16:35:13 -05:00
parent 7984b8a89f
commit ffc77e1c82
2 changed files with 177 additions and 178 deletions
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112
components/rpc/include/CommunicationRouter.h
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@@ -7,79 +7,77 @@
#ifndef COMMUNICATIONROUTER_H
#define COMMUNICATIONROUTER_H
#include <chrono>
#include <functional>
#include <memory>
#include <chrono>
#include "CommunicationFactory.h"
#include "IDiscoveryService.h"
#include "ConfigManager.h"
#include "OrientationDetection.h"
#include "wireless/WifiManager.h"
#include "wireless/TCPServer.h"
#include "DataLinkManager.h"
#include "constants/module.h"
#include "IDiscoveryService.h"
#include "OrientationDetection.h"
#include "PtrQueue.h"
#include "constants/module.h"
#include "wireless/TCPServer.h"
#include "wireless/WifiManager.h"
class CommunicationRouter {
class link_layer_thread_params {
public:
link_layer_thread_params(CommunicationRouter* router, const uint8_t channel) : router(router), channel(channel) {};
CommunicationRouter *router;
uint8_t channel;
};
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),
m_config_manager(ConfigManager::get_instance()),
m_pc_connection(CommunicationFactory::create_connection_manager(m_config_manager.get_communication_method())),
m_lossless_server(CommunicationFactory::create_lossless_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_lossy_server(CommunicationFactory::create_lossy_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_data_link_manager(std::make_unique<DataLinkManager>(m_config_manager.get_module_id(), MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()])),
m_module_id(m_config_manager.get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()),
m_discovery_service(CommunicationFactory::create_discovery_service(m_config_manager.get_communication_method())){
OrientationDetection::init();
update_leader();
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),
m_config_manager(ConfigManager::get_instance()),
m_pc_connection(CommunicationFactory::create_connection_manager(
m_config_manager.get_communication_method())),
m_lossless_server(CommunicationFactory::create_lossless_server(
m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_lossy_server(CommunicationFactory::create_lossy_server(
m_config_manager.get_communication_method(), m_tcp_rx_queue)),
m_data_link_manager(std::make_unique<DataLinkManager>(
m_config_manager.get_module_id(),
MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()])),
m_module_id(m_config_manager.get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()),
m_discovery_service(CommunicationFactory::create_discovery_service(
m_config_manager.get_communication_method())) {
OrientationDetection::init();
update_leader();
xTaskCreate(router_thread, "router", 4096, this, 3, &this->m_router_thread);
xTaskCreate(router_thread, "router", 4096, this, 3, &this->m_router_thread);
xTaskCreate(link_layer_thread, "router_rmt", 4096, this, 3,
&this->m_link_layer_thread);
}
// const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()];
// this->m_link_layer_threads.resize(num_channels);
// for (int i = 0; i < num_channels; i++) {
// auto *params = new link_layer_thread_params(this, i);
// xTaskCreate(link_layer_thread, "router_rmt", 4096, params, 3, &this->m_link_layer_threads[i]);
// }
}
~CommunicationRouter();
~CommunicationRouter();
[[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;
[[nodiscard]] uint8_t get_leader() const;
[[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;
[[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;
// 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;
private:
TaskHandle_t m_router_thread = nullptr;
ConfigManager &m_config_manager;
std::unique_ptr<IConnectionManager> m_pc_connection;
std::vector<TaskHandle_t> m_link_layer_threads;
std::unique_ptr<IRPCServer> m_lossless_server;
std::unique_ptr<IRPCServer> m_lossy_server;
std::unique_ptr<DataLinkManager> m_data_link_manager;
uint8_t m_leader = 0;
uint8_t m_module_id;
std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
std::unique_ptr<IDiscoveryService> m_discovery_service;
TaskHandle_t m_router_thread = nullptr;
TaskHandle_t m_link_layer_thread = nullptr;
ConfigManager &m_config_manager;
std::unique_ptr<IConnectionManager> m_pc_connection;
std::unique_ptr<IRPCServer> m_lossless_server;
std::unique_ptr<IRPCServer> m_lossy_server;
std::unique_ptr<DataLinkManager> m_data_link_manager;
uint8_t m_leader = 0;
uint8_t m_module_id;
std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
std::unique_ptr<IDiscoveryService> m_discovery_service;
};
#endif //COMMUNICATIONROUTER_H
#endif // COMMUNICATIONROUTER_H