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84 lines
3.4 KiB
C++
84 lines
3.4 KiB
C++
//
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// Created by Johnathon Slightham on 2025-05-25.
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//
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// todo: this class is getting a bit large
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#ifndef COMMUNICATIONROUTER_H
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#define COMMUNICATIONROUTER_H
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#include <functional>
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#include <memory>
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#include <chrono>
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#include "CommunicationFactory.h"
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#include "IDiscoveryService.h"
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#include "ConfigManager.h"
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#include "OrientationDetection.h"
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#include "wireless/WifiManager.h"
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#include "wireless/TCPServer.h"
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#include "DataLinkManager.h"
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#include "constants/module.h"
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#include "PtrQueue.h"
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class CommunicationRouter {
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class link_layer_thread_params {
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public:
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link_layer_thread_params(CommunicationRouter* router, const uint8_t channel) : router(router), channel(channel) {};
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CommunicationRouter *router;
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uint8_t channel;
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};
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public:
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explicit CommunicationRouter(const std::function<void(char*, int)> &rx_callback)
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: m_tcp_rx_queue(std::make_shared<PtrQueue<std::vector<uint8_t>>>(10)),
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m_rx_callback(rx_callback),
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m_config_manager(ConfigManager::get_instance()),
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m_pc_connection(CommunicationFactory::create_connection_manager(m_config_manager.get_communication_method())),
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m_lossless_server(CommunicationFactory::create_lossless_server(m_config_manager.get_communication_method(), m_tcp_rx_queue)),
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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()])),
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m_module_id(m_config_manager.get_module_id()),
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m_last_leader_updated(std::chrono::system_clock::now()),
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m_discovery_service(CommunicationFactory::create_discovery_service(m_config_manager.get_communication_method())){
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OrientationDetection::init();
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update_leader();
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xTaskCreate(router_thread, "communication_router", 4096, this, 3, &this->m_router_thread);
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const auto num_channels = MODULE_TO_NUM_CHANNELS_MAP[m_config_manager.get_module_type()];
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this->m_link_layer_threads.resize(num_channels);
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for (int i = 0; i < num_channels; i++) {
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auto *params = new link_layer_thread_params(this, i);
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xTaskCreate(link_layer_thread, "communication_router_rmt", 4096, params, 3, &this->m_link_layer_threads[i]);
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}
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}
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~CommunicationRouter();
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[[noreturn]] static void router_thread(void *args);
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[[noreturn]] static void link_layer_thread(void *args);
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int send_msg(char* buffer, size_t length) const;
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void update_leader();
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void route(uint8_t *buffer, size_t length) const;
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[[nodiscard]] std::pair<std::vector<uint8_t>, std::vector<Orientation>> get_physically_connected_modules() const;
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[[nodiscard]] uint8_t get_leader() const;
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// todo: does this really need to be here (so i can access from thread)?
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std::shared_ptr<PtrQueue<std::vector<uint8_t>>> m_tcp_rx_queue;
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std::function<void(char*, int)> m_rx_callback;
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private:
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TaskHandle_t m_router_thread = nullptr;
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ConfigManager &m_config_manager;
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std::unique_ptr<IConnectionManager> m_pc_connection;
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std::vector<TaskHandle_t> m_link_layer_threads;
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std::unique_ptr<IRPCServer> m_lossless_server;
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std::unique_ptr<DataLinkManager> m_data_link_manager;
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uint8_t m_leader = 0;
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uint8_t m_module_id;
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std::chrono::time_point<std::chrono::system_clock> m_last_leader_updated;
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std::unique_ptr<IDiscoveryService> m_discovery_service;
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};
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#endif //COMMUNICATIONROUTER_H
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