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Re-enable rmt

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This commit is contained in:
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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77
components/rpc/CommunicationRouter.cpp
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@@ -1,20 +1,21 @@
#include <iostream> #include <iostream>
#include "CommunicationRouter.h"
#include "AngleControlMessageBuilder.h" #include "AngleControlMessageBuilder.h"
#include "include/wireless/mDNSDiscoveryService.h" #include "CommunicationRouter.h"
#include "MPIMessageBuilder.h" #include "MPIMessageBuilder.h"
#include "include/wireless/WifiManager.h"
#include "freertos/FreeRTOS.h"
#include "Tables.h"
#include "PtrQueue.h"
#include "OrientationDetection.h" #include "OrientationDetection.h"
#include "PtrQueue.h"
#include "Tables.h"
#include "constants/module.h"
#include "freertos/FreeRTOS.h"
#include "freertos/idf_additions.h"
#include "freertos/projdefs.h"
#include "include/wireless/WifiManager.h"
#include "include/wireless/mDNSDiscoveryService.h"
#define TAG "CommunicationRouter" #define TAG "CommunicationRouter"
CommunicationRouter::~CommunicationRouter() { CommunicationRouter::~CommunicationRouter() { vTaskDelete(m_router_thread); }
vTaskDelete(m_router_thread);
}
// todo: we really need to change all char to uint8_t everywhere // todo: we really need to change all char to uint8_t everywhere
// todo: get rid of copying going on, need to pass around sharedptrs/uniqueptrs // todo: get rid of copying going on, need to pass around sharedptrs/uniqueptrs
@@ -30,31 +31,29 @@ CommunicationRouter::~CommunicationRouter() {
} }
[[noreturn]] void CommunicationRouter::link_layer_thread(void *args) { [[noreturn]] void CommunicationRouter::link_layer_thread(void *args) {
const auto* params = static_cast<link_layer_thread_params *>(args); const auto that = static_cast<CommunicationRouter *>(args);
const auto that = params->router;
const auto channel = params->channel;
delete params;
size_t bytes_received = 0;
that->m_data_link_manager->start_receive_frames(channel);
while (true) { while (true) {
char buffer[512]; for (uint8_t channel = 0;
const auto err = that->m_data_link_manager->receive(reinterpret_cast<uint8_t *>(buffer), 512, &bytes_received, channel); channel <
that->m_data_link_manager->start_receive_frames(channel); MODULE_TO_NUM_CHANNELS_MAP[that->m_config_manager.get_module_type()];
channel++) {
// todo: do we only want one thread ever doing this? uint16_t frame_size = 0;
if (std::chrono::system_clock::now() - that->m_last_leader_updated > std::chrono::seconds(15)) { FrameHeader frame_header{};
that->m_last_leader_updated = std::chrono::system_clock::now(); if (ESP_OK != that->m_data_link_manager->async_receive_info(
ESP_LOGI(TAG, "Updating leader"); &frame_size, &frame_header, channel) ||
that->update_leader(); 0 == frame_size) {
}
if (ESP_OK != err || bytes_received < 1) {
continue; continue;
} }
ESP_LOGD(TAG, "Got message from RMT"); std::vector<uint8_t> data{};
that->route(reinterpret_cast<uint8_t *>(buffer), bytes_received); data.resize(frame_size);
that->m_data_link_manager->async_receive(data.data(), frame_size,
&frame_header, channel);
that->route(data.data(), frame_size);
}
vTaskDelay(pdMS_TO_TICKS(50));
} }
} }
@@ -108,26 +107,28 @@ void CommunicationRouter::route(uint8_t* buffer, const size_t length) const {
return; return;
} }
if (const auto& mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer); mpi_message->destination() == m_module_id) { if (const auto &mpi_message =
ESP_LOGD(TAG, "Routing to this module [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length); Flatbuffers::MPIMessageBuilder::parse_mpi_message(buffer);
mpi_message->destination() == m_module_id) {
this->m_rx_callback(reinterpret_cast<char *>(buffer), 512); this->m_rx_callback(reinterpret_cast<char *>(buffer), 512);
} else if (mpi_message->destination() == PC_ADDR && this->m_leader == m_module_id) { } else if (mpi_message->destination() == PC_ADDR &&
ESP_LOGD(TAG, "Routing to wifi [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length); this->m_leader == m_module_id) {
if (mpi_message->is_durable()) { if (mpi_message->is_durable()) {
this->m_lossless_server->send_msg(reinterpret_cast<char *>(buffer), 512); this->m_lossless_server->send_msg(reinterpret_cast<char *>(buffer), 512);
} else { } else {
this->m_lossy_server->send_msg(reinterpret_cast<char *>(buffer), 512); this->m_lossy_server->send_msg(reinterpret_cast<char *>(buffer), 512);
} }
} else if (mpi_message->destination() == PC_ADDR) { } else if (mpi_message->destination() == PC_ADDR) {
ESP_LOGD(TAG, "Routing to wireline for wifi [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length); this->m_data_link_manager->send(this->m_leader, buffer, length,
this->m_data_link_manager->send(this->m_leader, buffer, length, FrameType::MOTOR_TYPE, 0); FrameType::MOTOR_TYPE, 0);
} else { } else {
ESP_LOGD(TAG, "Routing to wireline [dest: %d, length: %d]", static_cast<int>(mpi_message->destination()), length); this->m_data_link_manager->send(mpi_message->destination(), buffer, length,
this->m_data_link_manager->send(mpi_message->destination(), buffer, length, FrameType::MOTOR_TYPE, 0); FrameType::MOTOR_TYPE, 0);
} }
} }
std::pair<std::vector<uint8_t>, std::vector<Orientation>> CommunicationRouter::get_physically_connected_modules() const { std::pair<std::vector<uint8_t>, std::vector<Orientation>>
CommunicationRouter::get_physically_connected_modules() const {
std::vector<RIPRow_public> table; std::vector<RIPRow_public> table;
table.resize(RIP_MAX_ROUTES); table.resize(RIP_MAX_ROUTES);
size_t table_size = RIP_MAX_ROUTES * sizeof(RIPRow_public); size_t table_size = RIP_MAX_ROUTES * sizeof(RIPRow_public);

56
components/rpc/include/CommunicationRouter.h
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@@ -7,52 +7,47 @@
#ifndef COMMUNICATIONROUTER_H #ifndef COMMUNICATIONROUTER_H
#define COMMUNICATIONROUTER_H #define COMMUNICATIONROUTER_H
#include <chrono>
#include <functional> #include <functional>
#include <memory> #include <memory>
#include <chrono>
#include "CommunicationFactory.h" #include "CommunicationFactory.h"
#include "IDiscoveryService.h"
#include "ConfigManager.h" #include "ConfigManager.h"
#include "OrientationDetection.h"
#include "wireless/WifiManager.h"
#include "wireless/TCPServer.h"
#include "DataLinkManager.h" #include "DataLinkManager.h"
#include "constants/module.h" #include "IDiscoveryService.h"
#include "OrientationDetection.h"
#include "PtrQueue.h" #include "PtrQueue.h"
#include "constants/module.h"
#include "wireless/TCPServer.h"
#include "wireless/WifiManager.h"
class CommunicationRouter { class CommunicationRouter {
class link_layer_thread_params {
public: public:
link_layer_thread_params(CommunicationRouter* router, const uint8_t channel) : router(router), channel(channel) {}; explicit CommunicationRouter(
CommunicationRouter *router; const std::function<void(char *, int)> &rx_callback)
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_tcp_rx_queue(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
m_rx_callback(rx_callback), m_rx_callback(rx_callback),
m_config_manager(ConfigManager::get_instance()), m_config_manager(ConfigManager::get_instance()),
m_pc_connection(CommunicationFactory::create_connection_manager(m_config_manager.get_communication_method())), m_pc_connection(CommunicationFactory::create_connection_manager(
m_lossless_server(CommunicationFactory::create_lossless_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)), m_config_manager.get_communication_method())),
m_lossy_server(CommunicationFactory::create_lossy_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)), m_lossless_server(CommunicationFactory::create_lossless_server(
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_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_module_id(m_config_manager.get_module_id()),
m_last_leader_updated(std::chrono::system_clock::now()), m_last_leader_updated(std::chrono::system_clock::now()),
m_discovery_service(CommunicationFactory::create_discovery_service(m_config_manager.get_communication_method())){ m_discovery_service(CommunicationFactory::create_discovery_service(
m_config_manager.get_communication_method())) {
OrientationDetection::init(); OrientationDetection::init();
update_leader(); 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,
// const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()]; &this->m_link_layer_thread);
// 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();
@@ -62,17 +57,20 @@ public:
int send_msg(char *buffer, size_t length) const; int send_msg(char *buffer, size_t length) const;
void update_leader(); void update_leader();
void route(uint8_t *buffer, size_t length) const; 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]] std::pair<std::vector<uint8_t>, std::vector<Orientation>>
get_physically_connected_modules() const;
[[nodiscard]] uint8_t get_leader() const; [[nodiscard]] uint8_t get_leader() const;
// todo: does this really need to be here (so i can access from thread)? // 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::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::function<void(char *, int)> m_rx_callback;
private: private:
TaskHandle_t m_router_thread = nullptr; TaskHandle_t m_router_thread = nullptr;
TaskHandle_t m_link_layer_thread = nullptr;
ConfigManager &m_config_manager; ConfigManager &m_config_manager;
std::unique_ptr<IConnectionManager> m_pc_connection; 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_lossless_server;
std::unique_ptr<IRPCServer> m_lossy_server; std::unique_ptr<IRPCServer> m_lossy_server;
std::unique_ptr<DataLinkManager> m_data_link_manager; std::unique_ptr<DataLinkManager> m_data_link_manager;