#ifndef DATA_LINK #define DATA_LINK #include #include #include #include "esp_event.h" #include "freertos/FreeRTOS.h" #include "freertos/semphr.h" #include "Frames.h" #include "Tables.h" #include "RMTManager.h" #include #include "Scheduler.h" #define DEBUG_LINK_TAG "LinkLayer" #define CRC_POLYNOMIAL 0x1021 //look up table for crc static const uint16_t crc16_table[256] = { 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7, 0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF, 0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6, 0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE, 0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485, 0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D, 0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4, 0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC, 0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823, 0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B, 0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12, 0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A, 0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41, 0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49, 0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70, 0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78, 0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F, 0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067, 0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E, 0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256, 0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D, 0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C, 0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634, 0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB, 0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3, 0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A, 0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92, 0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9, 0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1, 0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8, 0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0 }; #define ASYNC_QUEUE_WAIT_TICKS 100 /** * @brief Class to represent the Data Link Layer * * @author Justin Chow */ class DataLinkManager{ public: DataLinkManager(uint8_t board_id, uint8_t num_channels); ~DataLinkManager(); esp_err_t send(uint8_t dest_board, uint8_t* data, uint16_t data_len, FrameType type, uint8_t flag); esp_err_t start_receive_frames(uint8_t curr_channel); esp_err_t receive(uint8_t* data, size_t data_len, size_t* recv_len, uint8_t curr_channel); esp_err_t print_frame_info(uint8_t* data, size_t data_len, uint8_t* message, size_t message_len); esp_err_t get_routing_table(RIPRow_public* table, size_t* table_size); esp_err_t async_receive_info(uint16_t* frame_size, FrameHeader* header, uint8_t channel); esp_err_t async_receive(uint8_t* data, uint16_t data_len, FrameHeader* header, uint8_t channel); private: uint8_t this_board_id = 0; uint8_t num_channels = MAX_CHANNELS; std::unique_ptr phys_comms; std::unordered_map sequence_num_map; volatile bool stop_tasks = false; //used by the tasks to know when to stop (set true when DataLinkManager is destroyed) TaskHandle_t rip_broadcast_task = NULL; TaskHandle_t rip_ttl_task = NULL; esp_err_t set_board_id(uint8_t board_id); esp_err_t get_board_id(uint8_t& board_id); void print_binary(uint8_t byte); void print_buffer_binary(const uint8_t* buffer, size_t length); esp_err_t get_data_from_frame(uint8_t* data, size_t data_len, uint8_t* message, size_t* message_size, FrameHeader* header); esp_err_t geneate_crc_16(uint8_t* data, size_t data_len, uint16_t* crc); esp_err_t create_control_frame(uint8_t* data, uint16_t data_len, ControlFrame control_frame, uint8_t* send_data, size_t* send_data_len); esp_err_t create_generic_frame(uint8_t* data, uint16_t data_len, GenericFrame generic_frame, uint16_t offset, uint8_t* send_data, size_t* send_data_len); //==== RIP related functions ==== void init_rip(); esp_err_t rip_find_entry(uint8_t board_id, RIPRow** entry, bool reserve_row); esp_err_t rip_update_entry(uint8_t new_hop, uint8_t channel, RIPRow** entry); esp_err_t rip_add_entry(uint8_t board_id, uint8_t hops, uint8_t channel, RIPRow** entry); esp_err_t rip_reset_entry_ttl(uint8_t board_id); esp_err_t rip_get_row(RIPRow** entry, uint8_t row_num); //this is stored locally with metadata `ttl` // std::unordered_map rip_table; //using a hash map to store the routes to other boards - will be used as we scale up RIPRow rip_table[RIP_MAX_ROUTES]; //temp using a static array void start_rip_tasks(); esp_err_t send_rip_frame(bool broadcast, uint8_t dest_id); [[noreturn]] static void rip_broadcast_timer_function(void* args); [[noreturn]] static void rip_ttl_decrement_task(void* args); QueueHandle_t manual_broadcasts; QueueHandle_t discovery_tables; esp_err_t route_frame(uint8_t dest_id, uint8_t* channel_to_send); //==== Frame Scheduling related functions ==== /** * @brief Priority queue for each channel to schedule when to send frames * */ std::priority_queue, FrameCompare> frame_queue[MAX_CHANNELS]; SemaphoreHandle_t sq_handle[MAX_CHANNELS]; void init_scheduler(); esp_err_t push_frame_to_scheduler(SchedulerMetadata frame, uint8_t channel); TaskHandle_t scheduler_task = NULL; /** * @brief Schedules which frame to send * * Scheduler: * - All frames will be pushed to the back onto a queue * - When a generic frame sends a chunk, it will be pushed back to the queue for the next chunk to be sent * * Scheduling may change (above scheduler will lead to starvation of control frames depending on the number of generic frames/fragments to send) */ [[noreturn]] static void frame_scheduler(void* args); /** * @brief Scheduler sending the actual frame at the top of the heap on a channel * * @return esp_err_t */ esp_err_t scheduler_send(uint8_t channel); //Generic Frame Receive Fragments /** * @brief Store a fragment that has been received * * @param fragment * @param channel * @return esp_err_t */ esp_err_t store_fragment(GenericFrame* fragment, uint8_t channel); /** * @brief Stores generic frame fragments * * Mapping: * Board ID -> Sequence number -> Array of Generic Frame Fragments, with size of the number of expected fragments * * TODO: * - When receiving a fragment, insert it into the map * - When all fragments have been received in a sequence, remove the entire entry (sequence) from the map, and push final data for async receive * - Sliding window + ACKs * */ std::unordered_map> fragment_map; esp_err_t complete_fragment(uint16_t board_id, uint16_t sequence_num, uint8_t channel); SemaphoreHandle_t async_rx_queue_mutex[MAX_CHANNELS]; //Async receive /** * @brief Queue to store complete received frame data * * TODO: * - Replace the public `receive()` with the `async_receive()`. * */ std::queue async_receive_queue[MAX_CHANNELS]; esp_err_t start_receive_frames_rmt(uint8_t curr_channel); /** * @brief Receive thread entry point * * @param args */ [[noreturn]] static void receive_thread_main(void* args); /** * @brief Receive bytes from Physical Layer (RMT) * * @note This replaces the deprecated `receive` function * * @param channel Physical channel pair to look at * @return esp_err_t */ esp_err_t receive_rmt(uint8_t channel); TaskHandle_t receive_task = NULL; }; #endif //DATA_LINK