HeartbeatRouter.hpp

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#ifndef FSW_HEARTBEAT_ROUTER_HPP
#define FSW_HEARTBEAT_ROUTER_HPP
 
#include <chrono>
#include <cstdint>
#include <map>
 
#include "DiabloEnums.h"
#include "DiabloPackets.h"
#include "elodin/ElodinClient.hpp"
 
namespace fsw {
namespace routing {
 
/**
 * @brief Routes incoming BOARD_HEARTBEAT packets to Elodin DB.
 *
 * On each heartbeat:
 *  - Publishes a BoardHeartbeatElodinMessage to packet_id {0x10, board_id}.
 *  - Tracks per-board last-seen time to detect reconnects and Setup re-entry.
 *  - Returns a BoardEvent so the caller (daq_bridge_main) can gate SENSOR_CONFIG re-sends.
 */
class HeartbeatRouter {
public:
    enum class BoardEvent {
        NONE,
        RECONNECTED,    // board was silent >2.5 s, now seen again
        SETUP_REENTRY,  // board transitioned back to SETUP state
    };
 
    explicit HeartbeatRouter(elodin::ElodinClient& elodin_client);
    ~HeartbeatRouter() = default;
 
    /**
     * @brief Process one BOARD_HEARTBEAT and publish to Elodin.
     *
     * @param header     Parsed packet header (for timestamp).
     * @param heartbeat  Parsed heartbeat body (DAQv2: firmware hash + id + states; no board_type on
     * wire).
     * @param board_type_wire  Legacy wire enum byte for Elodin (from config when known, else 0).
     * @param receive_ts_ns  Monotonic receive timestamp (nanoseconds).
     * @param elodin_board_id_if_known  When >= 0 and <= 255, use this for Elodin packet_id {0x10,
     * id} and for reconnect state keys — must match config.toml `board_id` so the thin backend
     *   `boardsStatus` and GUI stay aligned. Firmware often uses a slot index (1–8) while config
     *   uses composite IDs (e.g. 21 = PT board 1). Sensor streams still work via slot-based
     * [0x20,…] IDs, so a wire/config mismatch only breaks board status / heartbeats UI unless
     * overridden.
     */
    BoardEvent process_heartbeat(const daq::PacketHeader& header,
                                 const daq::BoardHeartbeatPacket& heartbeat,
                                 uint8_t board_type_wire, uint64_t receive_ts_ns,
                                 int elodin_board_id_if_known = -1);
 
private:
    struct PerBoardState {
        std::chrono::steady_clock::time_point last_seen;
        daq::BoardState last_board_state = daq::BoardState::SETUP;
        bool seen_before = false;
    };
 
    elodin::ElodinClient& elodin_client_;
    std::map<uint8_t, PerBoardState> board_states_;
 
    static constexpr auto RECONNECT_THRESHOLD = std::chrono::milliseconds(2500);
};
 
}  // namespace routing
}  // namespace fsw
 
#endif  // FSW_HEARTBEAT_ROUTER_HPP