mirror of
https://github.com/BotChain-Robots/firmware.git
synced 2026-07-08 17:47:21 +02:00
292 lines
10 KiB
C++
292 lines
10 KiB
C++
// //Used for link layer testing (change name to main.cpp to use)
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// #include <cstdio>
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// #include <memory>
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// #include "sdkconfig.h"
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// #include "freertos/FreeRTOS.h"
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// #include "freertos/task.h"
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// #include "esp_flash.h"
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// #include "nvs_flash.h"
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// #include "RMTManager.h"
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// #include "DataLinkManager.h"
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// #include <esp_netif.h>
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// #include <esp_event.h>
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// #include <freertos/semphr.h>
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// #include "driver/gptimer.h"
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// #include "esp_log.h"
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// #define DATA_SIZE_TEST 270
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// //current board id
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// #define BOARD_ID 69
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// //board id to send to
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// #define RECEIVER_BOARD_ID 1
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// struct TaskArgs{
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// DataLinkManager* link_layer_obj;
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// uint8_t task_id;
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// uint8_t receiver_id;
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// QueueHandle_t receive_queue;
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// };
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// struct ReceviedFrame{
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// uint8_t buf[MAX_CONTROL_DATA_LEN + CONTROL_FRAME_OVERHEAD]; //max 41B
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// size_t len;
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// FrameHeader header;
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// };
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// void receive_frames(void* arg){
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// TaskArgs* args = (TaskArgs*)arg;
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// DataLinkManager* obj = args->link_layer_obj;
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// if (obj == nullptr){
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// ESP_LOGE("thread", "bad pointer\n");
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// vTaskDelete(NULL); //should never get here
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// }
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// QueueHandle_t shared_queue = (QueueHandle_t)args->receive_queue;
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// uint8_t curr_channel = args-> task_id;
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// printf("RX JOB for task %d starting...\n", curr_channel);
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// esp_err_t res;
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// uint8_t recv_buf[DATA_SIZE_TEST];
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// memset(recv_buf, 0, DATA_SIZE_TEST);
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// ReceviedFrame recv_frame = {};
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// FrameHeader header = {};
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// while(true){
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// res = obj->async_receive(recv_buf, sizeof(recv_buf), &header, curr_channel);
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// vTaskDelay(pdMS_TO_TICKS(10));
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// if (res != ESP_OK){
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// // ESP_LOGE("thread", "Failed to receive message on thread %d", curr_channel);
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// if (res != ESP_ERR_NOT_FOUND) {
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// recv_frame.len = 0;
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// if (xQueueSendToBack(shared_queue, (void*)&recv_frame, (TickType_t) 10) != pdPASS){
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// ESP_LOGE("RX Job", "Failed to push received frame onto shared queue for channel %d", curr_channel);
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// }
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// }
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// continue;
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// } else {
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// // printf("Successfully receive message\n");
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// }
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// if (header.data_len == 0){
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// continue;
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// }
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// recv_frame.len = header.data_len;
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// memcpy((void*)recv_frame.buf, (void*)recv_buf, header.data_len);
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// recv_frame.header = header;
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// if (xQueueSendToBack(shared_queue, (void*)&recv_frame, (TickType_t) 10) != pdPASS){
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// ESP_LOGE("RX Job", "Failed to push received frame onto shared queue for channel %d", curr_channel);
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// }
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// }
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// }
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// void multi_transceiver(void* arg) {
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// TaskArgs* args = (TaskArgs*)arg;
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// DataLinkManager* obj = args->link_layer_obj;
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// if (obj == nullptr){
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// ESP_LOGE("thread", "bad pointer\n");
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// vTaskDelete(NULL); //should never get here
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// }
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// xTaskCreate(receive_frames, "receive_frame_job", 4096, arg, 5, NULL);
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// uint8_t dest_board_id = args->receiver_id; //using a dummy number for now - there is no board with id 2 right now
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// const char* message = "this is some other data that should not be corrupted.";
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// uint8_t curr_channel = args->task_id;
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// QueueHandle_t shared_queue = (QueueHandle_t)args->receive_queue;
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// uint8_t send_buf[DATA_SIZE_TEST];
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// uint8_t recv_buf[DATA_SIZE_TEST];
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// memset(recv_buf, 0, DATA_SIZE_TEST);
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// memset(send_buf, 0, DATA_SIZE_TEST);
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// size_t recv_len = 0;
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// uint8_t iteration = 0;
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// esp_err_t res = ESP_OK;
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// gptimer_handle_t gptimer = NULL;
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// gptimer_config_t timer_config = {
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// .clk_src = GPTIMER_CLK_SRC_DEFAULT,
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// .direction = GPTIMER_COUNT_UP,
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// .resolution_hz = 1 * 1000 * 1000, // 1MHz, 1 tick = 1us
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// };
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// ESP_ERROR_CHECK(gptimer_new_timer(&timer_config, &gptimer));
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// ESP_ERROR_CHECK(gptimer_enable(gptimer));
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// ESP_ERROR_CHECK(gptimer_start(gptimer));
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// uint64_t start_count = 0, end_count = 0;
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// uint32_t num_incorrect = 0;
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// uint32_t total_transactions = 0;
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// RIPRow_public_matrix matrix[RIP_MAX_ROUTES];
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// size_t matrix_size = RIP_MAX_ROUTES;
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// for (int i = 0; i < RIP_MAX_ROUTES; i++){
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// RIPRow_public* table = (RIPRow_public*)pvPortMalloc(sizeof(RIPRow_public)*RIP_MAX_ROUTES);
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// matrix[i] = {
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// .table = table,
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// .size = RIP_MAX_ROUTES
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// };
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// }
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// ReceviedFrame recv_frame = {};
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// printf("task %d starting...\n", curr_channel);
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// vTaskDelay(3000 / portTICK_PERIOD_MS);
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// bool receive_only = false;
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// while(1){
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// if(!receive_only){
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// vTaskDelay(1000 / portTICK_PERIOD_MS); // wait 1 second before trying to send again
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// snprintf(reinterpret_cast<char*>(send_buf), sizeof(send_buf), "This is a message from board %d sending on channel %d. %s", BOARD_ID, curr_channel, message);
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// ESP_ERROR_CHECK(gptimer_get_raw_count(gptimer, &start_count));
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// res = obj->send(dest_board_id, send_buf, strlen(reinterpret_cast<char*>(send_buf)), FrameType::DEBUG_CONTROL_TYPE, 0x0);
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// ESP_ERROR_CHECK(gptimer_get_raw_count(gptimer, &end_count));
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// // snprintf(reinterpret_cast<char*>(send_buf), sizeof(send_buf), "%s RANDOM", mej.kssage); //modifying the data while it transmits shouldn't affect the actual transmission here
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// if (res != ESP_OK){
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// ESP_LOGE("thread", "Failed to send message on thread %d. Error: 0x%x", curr_channel, res);
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// continue;
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// } else {
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// // printf("Successfully sent message %s\n", send_buf);
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// printf("Sent %zu B sized in %" PRIu64 " us from channel %d\n", strlen(reinterpret_cast<char*>(send_buf)) + CONTROL_FRAME_OVERHEAD, end_count-start_count, curr_channel);
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// }
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// }
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// //wait on a queue for a few ms (if there's nothing, just send another frame. otherwise pop from queue and read it)
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// if (xQueueReceive(shared_queue, (void*)&recv_frame, (TickType_t) 50) != pdPASS){
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// memset(send_buf, 0, 256);
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// continue; //nothing or failed to pop from queue
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// }
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// total_transactions++;
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// if (recv_frame.len == 0){
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// //receive fail
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// num_incorrect++;
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// } else {
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// // res = obj->print_frame_info(recv_frame.buf, recv_frame.len, recv_buf, DATA_SIZE_TEST);
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// if (res != ESP_OK){
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// num_incorrect++;
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// // printf("Received %ld bad frames on tx/rx round %ld for thread %d\n", num_incorrect, total_transactions, curr_channel);
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// } else {
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// // printf("Header information:\n");
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// // printf("Preamble\tTX ID\tRX ID\tSeq Num\tType/Flag\tFrag Info\tData Len\tCRC\n");
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// // printf("%X\t%d\t%d\t%d\t%X\t%ld\t%d\t%d\n",recv_frame.header.preamble, recv_frame.header.sender_id, recv_frame.header.receiver_id, recv_frame.header.seq_num,
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// // recv_frame.header.type_flag, recv_frame.header.frag_info, recv_frame.header.data_len, recv_frame.header.crc_16);
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// // printf("Received message '%.*s' on channel %d\n", recv_frame.len, recv_frame.buf, curr_channel);
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// }
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// }
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// printf("Total received packets: %ld\tTotal packets corrupted: %ld\n", total_transactions, num_incorrect);
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// // vTaskDelay(1000 / portTICK_PERIOD_MS); // wait 1 second before trying to send again
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// //reset temp buffers
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// memset(recv_buf, 0, DATA_SIZE_TEST);
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// memset(send_buf, 0, DATA_SIZE_TEST);
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// }
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// while(true){
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// vTaskDelay(2000 / portTICK_PERIOD_MS);
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// }
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// }
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// void print_binary(unsigned char c) {
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// for (int i = 7; i >= 0; i--) {
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// printf("%d", (c >> i) & 1);
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// }
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// }
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// void print_string_binary(const char *str) {
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// while (*str) {
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// print_binary((unsigned char)*str);
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// printf(" "); // space between bytes for readability
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// str++;
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// }
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// printf("\n");
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// }
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// extern "C" [[noreturn]] void app_main(void) {
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// esp_err_t ret = nvs_flash_init();
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// if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
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// ESP_ERROR_CHECK(nvs_flash_erase());
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// ret = nvs_flash_init();
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// }
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// ESP_ERROR_CHECK(ret);
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// esp_netif_init();
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// esp_event_loop_create_default();
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// printf("finished esp init\n");
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// printf("Hello world!\n");
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// // uint8_t iteration = 0;
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// // const char* message = "THIS IS A TEXT MESSAGE";
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// uint8_t num_channels = 4;
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// std::unique_ptr<DataLinkManager> obj = std::make_unique<DataLinkManager>(BOARD_ID, num_channels);
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// // uint8_t dest_board_id = 2; //using a dummy number for now - there is no board with id 2 right now
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// // esp_err_t res;
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// // uint8_t send_buf[256];
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// // uint8_t recv_buf[256];
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// // size_t recv_len = 0;
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// // uint8_t curr_channel = 0;
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// DataLinkManager* obj_to_send = obj.release();
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// TaskArgs args[4] = {};
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// for (uint8_t i = 0; i < 1; i++){
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// args[i].link_layer_obj = obj_to_send;
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// args[i].task_id = i;
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// args[i].receiver_id = RECEIVER_BOARD_ID;
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// args[i].receive_queue = xQueueCreate(10, sizeof(ReceviedFrame)); //queue storing up to 10 control frames
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// xTaskCreate(multi_transceiver, "multi_transceiver", 4096, static_cast<void*>(&args[i]), 5, NULL);
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// vTaskDelay(500 / portTICK_PERIOD_MS);
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// }
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// printf("Tasks have been created\n");
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// while(true){
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// //do nothing
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// }
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// for (int i = 5; i >= 0; i--) {
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// printf("Restarting in %d seconds...\n", i);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// }
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// printf("Restarting now.\n");
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// fflush(stdout);
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// esp_restart();
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// while(true){
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// //dummy wait
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// vTaskDelay(2000 / portTICK_PERIOD_MS);
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// }
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// }
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