firmware/components/rpc/MessagingInterface.cpp

//
// Created by Johnathon Slightham on 2025-05-25.
//

#include "MessagingInterface.h"

#include <AngleControlMessageBuilder.h>
#include <ConfigManager.h>
#include <freertos/queue.h>
#include <freertos/semphr.h>

#include "MPIMessageBuilder.h"

MessagingInterface::~MessagingInterface() {
    vQueueDelete(m_mpi_rx_queue);
    vSemaphoreDelete(m_map_semaphore);

    for (const auto queue: m_tag_to_queue | std::views::values) {
        vQueueDelete(queue);
    }
}

int MessagingInterface::send(char* buffer, const int size, const int destination, const int tag, const bool durable) {
    Flatbuffers::MPIMessageBuilder builder;
    const auto [mpi_buffer, mpi_size] = builder.build_mpi_message(Messaging::MessageType_PTP, m_config_manager.get_module_id(), destination, m_sequence_number++, durable, tag, std::vector<uint8_t>(buffer, buffer + size));

    m_router->send_msg(static_cast<char *>(mpi_buffer), mpi_size);
    return 0;
}

int MessagingInterface::broadcast(char* buffer, int size, int root, bool durable) {
    // todo: impl
    return 0;
}

int MessagingInterface::recv(char* buffer, int size, int source, const int tag) {
    checkOrInsertTag(tag);

    // todo: the buffer needs to be large enough, this copies into the buffer...
    // todo: handle the source
    xQueueReceive(m_tag_to_queue.at(tag), buffer, portMAX_DELAY);

    return 0;
}

int MessagingInterface::sendrecv(char* send_buffer, int send_size, int dest, int send_tag, char* recv_buffer, int recv_size, int recv_tag) {

    return 0;
}

// todo: when handleRecv returns, remove from queue (from router)
void MessagingInterface::handleRecv(const char* recv_buffer, int recv_size) {
    const auto mpi_message = Flatbuffers::MPIMessageBuilder::parse_mpi_message(reinterpret_cast<const uint8_t *>(recv_buffer));

    checkOrInsertTag(mpi_message->tag());

    xQueueSendToBack(m_tag_to_queue.at(mpi_message->tag()), mpi_message->payload()->data(), 0);
}

void MessagingInterface::checkOrInsertTag(const uint8_t tag) {
    xSemaphoreTake(m_map_semaphore, portMAX_DELAY);
    if (!m_tag_to_queue.contains(tag)) {
        m_tag_to_queue[tag] = xQueueCreate(MPI_QUEUE_SIZE, MAX_MPI_BUFFER_SIZE);
    }
    xSemaphoreGive(m_map_semaphore);
}

std::pair<std::vector<uint8_t>, std::vector<Orientation>> MessagingInterface::get_physically_connected_modules() const {
    return m_router->get_physically_connected_modules();
}