fixing removal of eth interface comms

hytech-racing · Oct 20, 2024 · cd259b5 · cd259b5
1 parent 7490ed6
commit cd259b5
Showing 1 changed file with 21 additions and 17 deletions.
diff --git a/src/main.cpp b/src/main.cpp
@@ -344,7 +344,7 @@ void tick_all_systems(const SysTick_s &current_system_tick);
 /* Reset inverters */
 void drivetrain_reset();
 
-// void handle_ethernet_interface_comms(const SysTick_s &systick, const hytech_msgs_MCUOutputData &out_msg);
+void handle_ethernet_interface_comms(const SysTick_s &systick, const hytech_msgs_MCUOutputData &out_msg);
 
 /*
     SETUP
@@ -439,6 +439,10 @@ void loop()
                              db_eth_interface.get_latest_data(),
                              torque_controller_mux.get_tc_mux_status());
 
+    hytech_msgs_MCUOutputData out_eth_msg = db_eth_interface.make_db_msg(car_state_inst);
+
+    handle_ethernet_interface_comms(curr_tick, out_eth_msg);
+
     tick_all_systems(curr_tick);
 
     // logger.log_out(static_cast<int>(torque_controller_mux.get_tc_mux_status().current_controller_mode_), curr_tick.millis, 100);
@@ -652,19 +656,19 @@ void tick_all_systems(const SysTick_s &current_system_tick)
         vn_interface.get_vn_struct().vn_status);
 }
 
-// void handle_ethernet_interface_comms(const SysTick_s &systick, const hytech_msgs_MCUOutputData &out_msg)
-// {
-//     // function that will handle receiving and distributing of all messages to all ethernet interfaces
-//     // via the union message. this is a little bit cursed ngl.
-//     // TODO un fuck this and make it more sane
-//     // Serial.println("bruh");
-//     // handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
-
-//     std::function<void(unsigned long, const uint8_t *, size_t, DrivebrainETHInterface &, const pb_msgdesc_t *)> recv_boi = &recv_pb_stream_msg<hytech_msgs_MCUCommandData, DrivebrainETHInterface>;
-//     handle_ethernet_socket_receive<1024, hytech_msgs_MCUCommandData>(systick, &protobuf_recv_socket, recv_boi, db_eth_interface, hytech_msgs_MCUCommandData_fields);
-
-//     if (systick.triggers.trigger1000)
-//     {
-//         handle_ethernet_socket_send_pb<hytech_msgs_MCUOutputData, 1024>(EthParams::default_TCU_ip, EthParams::default_protobuf_send_port, &protobuf_send_socket, out_msg, hytech_msgs_MCUOutputData_fields);
-//     }
-// }
+void handle_ethernet_interface_comms(const SysTick_s &systick, const hytech_msgs_MCUOutputData &out_msg)
+{
+    // function that will handle receiving and distributing of all messages to all ethernet interfaces
+    // via the union message. this is a little bit cursed ngl.
+    // TODO un fuck this and make it more sane
+    // Serial.println("bruh");
+    // handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
+
+    std::function<void(unsigned long, const uint8_t *, size_t, DrivebrainETHInterface &, const pb_msgdesc_t *)> recv_boi = &recv_pb_stream_msg<hytech_msgs_MCUCommandData, DrivebrainETHInterface>;
+    handle_ethernet_socket_receive<1024, hytech_msgs_MCUCommandData>(systick, &protobuf_recv_socket, recv_boi, db_eth_interface, hytech_msgs_MCUCommandData_fields);
+
+    if (systick.triggers.trigger1000)
+    {
+        handle_ethernet_socket_send_pb<hytech_msgs_MCUOutputData, 1024>(EthParams::default_TCU_ip, EthParams::default_protobuf_send_port, &protobuf_send_socket, out_msg, hytech_msgs_MCUOutputData_fields);
+    }
+}