Fixed broadcast to all deadlock and safer pushAll API

src/base/router.cpp

@@ -5,22 +5,31 @@
 #include "router.h"
 
 namespace router {
+int sendAll(module::Id source, task::Type type, uint32_t data) {
+  Task task{module::All, type, data};
+  int ret = 0;
+
+  for (size_t index = 0; index < module::Count; index++) {
+    if (source < module::Count && index == source) {
+      continue;
+    }
+
+    ModuleBase *module_ptr = module_registry[index];
+    if (module_ptr == nullptr) {
+      continue;
+    }
+
+    if (module_ptr->push(task) != 0) {
+      ret = 1;
+    }
+  }
+
+  return ret;
+}
+
 int send(const Task &task) {
   if (task.target_ == module::All) {
-    int ret = 0;
-    for (size_t index = 0; index < module::Count; index++) {
-
-      ModuleBase *module_ptr = module_registry[index];
-
-      if (module_ptr == nullptr) {
-        continue;
-      }
-
-      if (module_ptr->push(task) != 0) {
-        ret = 1;
-      }
-    }
-    return ret;
+    return sendAll(module::Null, task.type_, task.data_);
   }
   if (task.target_ >= module::Count) {
     return 1;

src/base/router.h

@@ -10,4 +10,5 @@
 namespace router {
     int send(const Task& task);
     int send(module::Id target, task::Type type, uint32_t data = 0);
+    int sendAll(module::Id source, task::Type type, uint32_t data = 0);
 }

src/modules/cmd/cmd.cpp

@@ -446,8 +446,13 @@ int Cmd::handleBatterySetLow(unsigned short argc, char* argv[]) {
     logger_->info("Setting warning level for VBAT");
   }
 #endif
-  router::send(module::Config, task::ConfigVbatSetLow, task_data);
-  return 0;
+  int result = router::send(module::Config, task::ConfigVbatSetLow, task_data);
+#ifdef ERROR
+  if (result != 0 && logger_ != nullptr) {
+    logger_->error("Failed to queue BATTERY_SET_LOW config update");
+  }
+#endif
+  return result;
 }
 
 int Cmd::handleThermoSetLow(unsigned short argc, char* argv[]) {
@@ -467,8 +472,13 @@ int Cmd::handleThermoSetLow(unsigned short argc, char* argv[]) {
     logger_->info("Setting low level for TENG");
   }
 #endif
-  router::send(module::Config, task::ConfigTengSetLow, task_data);
-  return 0;
+  int result = router::send(module::Config, task::ConfigTengSetLow, task_data);
+#ifdef ERROR
+  if (result != 0 && logger_ != nullptr) {
+    logger_->error("Failed to queue THERMO_SET_LOW config update");
+  }
+#endif
+  return result;
 }
 
 int Cmd::handleThermoSetHigh(unsigned short argc, char* argv[]) {
@@ -480,16 +490,21 @@ int Cmd::handleThermoSetHigh(unsigned short argc, char* argv[]) {
 #endif
     return 1;
   }
-  float low = strtod(argv[1], nullptr);
+  float high = strtod(argv[1], nullptr);
   uint32_t task_data;
-  memcpy(&task_data, &low, sizeof(uint32_t));
+  memcpy(&task_data, &high, sizeof(uint32_t));
 #ifdef INFO
   if (logger_ != nullptr) {
     logger_->info("Setting high level for TENG");
   }
 #endif
-  router::send(module::Config, task::ConfigTengSetHigh, task_data);
-  return 0;
+  int result = router::send(module::Config, task::ConfigTengSetHigh, task_data);
+#ifdef ERROR
+  if (result != 0 && logger_ != nullptr) {
+    logger_->error("Failed to queue THERMO_SET_HIGH config update");
+  }
+#endif
+  return result;
 }
 
 int Cmd::handleUnknownCommand(unsigned short argc, char *argv[]) {
@@ -579,7 +594,8 @@ int Cmd::tryParse() {
 }
 
 int Cmd::push(const Task &task) {
-  return queue_.push(task);
+  (void)task;
+  return 0;
 }
 
 Cmd::Cmd(HardwareSerial *data_stream)

src/modules/cmd/cmd.h

@@ -7,7 +7,6 @@
 #include <avr/wdt.h>
 
 #include "base/module_base.h"
-#include "base/ring_buffer.h"
 #include "base/task.h"
 #include "custom_types.h"
 #include "modules/logger/system_logger.h"
@@ -39,7 +38,6 @@ private:
   char buffer_[256];
   unsigned int index_ = 0;
   bool buffer_open_ = false;
-  RingBuffer<Task, 16> queue_;
 
   static const unsigned short MAX_ARGS = 10;
 

src/modules/config/config.cpp

@@ -145,7 +145,7 @@ int Config::writeConfig() {
     logger_->info("Config updated and saved to EEPROM");
   }
 #endif
-  router::send(module::All, task::AllConfigUpdated);
+  router::sendAll(module::Config, task::AllConfigUpdated);
   return 0;
 }
 
@@ -303,9 +303,11 @@ int Config::handleActiveTask(unsigned long timeout_ms) {
   }
 
   default:
-    break;
+    // Broadcasts such as AllConfigUpdated may be queued back into Config.
+    // Unsupported tasks must still be completed so the module does not stall.
+    this->taskComplete();
+    return 1;
   }
-  return 0;
 }
 
 int Config::autoInit() {
@@ -391,6 +393,6 @@ int Config::loadTrack(unsigned int idx) {
   track.root_ = track_data;
   trackGlobalWrite(track);
   is_track_loaded_ = true;
-  router::send(module::All, task::AllTrackLoaded);
+  router::sendAll(module::Config, task::AllTrackLoaded);
   return 0;
 }

src/modules/gps/gps.cpp

@@ -43,7 +43,7 @@ int Gps::loop(unsigned long timeout_ms) {
       if (last_fix_value_ == 0 && current_fix_value > 0) {
         router::send(module::Lcd, task::DisplayMsgGpsFix, 2000);
         router::send(module::Config, task::ConfigTrackDetect);
-        router::send(module::All, task::AllGpsFixOk);
+        router::sendAll(module::Gps, task::AllGpsFixOk);
       }
       last_fix_value_ = current_fix_value;
     }
@@ -129,7 +129,7 @@ int Gps::loop(unsigned long timeout_ms) {
         gpsTriggerGlobalWrite(start_line_trigger_);
         arm_sign_ = 0;
         state_changed_at_ = now;
-        router::send(module::All, task::AllStartLineTriggered);
+        router::sendAll(module::Gps, task::AllStartLineTriggered);
       }
       break;
     };

src/modules/injection_counter/injection_counter.cpp

@@ -5,7 +5,10 @@
 #include "base/router.h"
 #include "data/general_store.h"
 
-int InjectionCounter::push(const Task &task) { return queue_.push(task); }
+int InjectionCounter::push(const Task &task) {
+  (void)task;
+  return 0;
+}
 
 InjectionCounter::InjectionCounter() : logger_(nullptr) {};
 
@@ -13,7 +16,10 @@ InjectionCounter::InjectionCounter(SystemLogger *logger) : logger_(logger) {};
 
 InjectionCounter::~InjectionCounter() {};
 
-int InjectionCounter::init() { pinMode(INJ_GPIO, INPUT); }
+int InjectionCounter::init() {
+  pinMode(INJ_GPIO, INPUT);
+  return 0;
+}
 
 int InjectionCounter::loop() {
   unsigned long now = millis();

src/modules/injection_counter/injection_counter.h

@@ -3,7 +3,6 @@
 // SPDX-License-Identifier: GPL-3.0-or-later
 #pragma once
 #include "base/module_base.h"
-#include "base/ring_buffer.h"
 #include "modules/logger/system_logger.h"
 
 #define INJ_GPIO 37
@@ -11,7 +10,6 @@
 class InjectionCounter : public ModuleBase {
 private:
   SystemLogger *logger_;
-  RingBuffer<Task, 16> queue_;
   unsigned long last_check_;
   unsigned long check_interval_ = 100;
   unsigned long debounce_ = 100;

src/modules/telemetry/telemetry.cpp

@@ -5,7 +5,10 @@
 #include "base/router.h"
 #include "data/general_store.h"
 
-int Telemetry::push(const Task &task) { return queue_.push(task); }
+int Telemetry::push(const Task &task) {
+    (void)task;
+    return 0;
+}
 
 Telemetry::Telemetry(HardwareSerial* data_stream) : logger_(nullptr), data_stream_(data_stream) {}
 

src/modules/telemetry/telemetry.h

@@ -3,7 +3,6 @@
 // SPDX-License-Identifier: GPL-3.0-or-later
 #pragma once
 #include "base/module_base.h"
-#include "base/ring_buffer.h"
 #include "modules/logger/system_logger.h"
 #include "telemetry_common/telemetry_common.h"
 #include <Arduino.h>
@@ -13,7 +12,6 @@
 class Telemetry : public ModuleBase {
 private:
   SystemLogger *logger_;
-  RingBuffer<Task, 16> queue_;
   HardwareSerial *data_stream_;
   unsigned long last_sent_ = 0;
   unsigned long update_interval_ = 1000;

src/modules/thermocouple/thermocouple.cpp

@@ -26,6 +26,25 @@ int Thermocouple::init() {
 int Thermocouple::loop(unsigned long timeout_ms) {
   (void)timeout_ms;
 
+  Task active_task;
+  int res = queue_.pop(active_task);
+  if (res == 0) {
+    if (active_task.target_ == module::All) {
+      switch (active_task.type_) {
+      case task::AllConfigUpdated: {
+        VehicleConfig config;
+        configGlobalRead(config);
+        low_ = config.teng_low_;
+        high_ = config.teng_high_;
+        break;
+      }
+
+      default:
+        break;
+      }
+    }
+  }
+
   if (millis() > last_read_at_ + update_interval_) {
     temperature_ = thermocouple_->readCelsius();
     tengGlobalWrite(temperature_);
@@ -43,28 +62,7 @@ int Thermocouple::loop(unsigned long timeout_ms) {
         warning_sent_at_ = millis();
       }
     }
-
-    Task active_task;
-    int res = queue_.pop(active_task);
-    if (res == 0) {
-      if (active_task.target_ == module::Thermocouple) {
-
-      } else if (active_task.target_ == module::All) {
-
-        switch (active_task.type_) {
-        case task::AllConfigUpdated: {
-          VehicleConfig config;
-          configGlobalRead(config);
-          low_ = config.teng_low_;
-          high_ = config.teng_high_;
-          break;
-        }
-
-        default:
-          break;
-        }
-      };
-    }
-    return 0;
   }
+
+  return 0;
 }