Feat/swarinfo 534 send bytes (#148)

* wip

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* Revert to ok stack size

* Removed testing buzz script

Author: xgroleau

Diff for: README.md

@@ -254,7 +254,7 @@ It's possible to change the log level, check how to configure the build dependin
 CMake variables can be used to override certain default firmware settings.
 | Variable | Default value |
 | --- | --- |
-| HOST_PORT | 5555 |
+| HOST_PORT | 55551 |
 | HOST_IP | 192.168.1.101 |
 | LOG_LEVEL | Info |
 | MAX_ROBOTS_IN_SWARM | 10 |
@@ -269,7 +269,7 @@ ROS launch parameters are used to configure variables.
 | Variable | Default value |
 |---------------------|---------------------------------|
 | board_uuid | 1 (0 is reserved for broadcast) |
-| host_tcp_port | 5555 |
+| host_tcp_port | 55551 |
 | host_tcp_address | 127.0.0.1 |
 | remote_mock_port | 12346 |
 | log_level | Info |

Diff for: src/Main.cpp

@@ -225,7 +225,7 @@ class MessageSenderTask : public AbstractTask<10 * configMINIMAL_STACK_SIZE> {
 };
 
 template <typename SerializerType = HiveMindHostSerializer>
-class CommMonitoringTask : public AbstractTask<10 * configMINIMAL_STACK_SIZE> {
+class CommMonitoringTask : public AbstractTask<12 * configMINIMAL_STACK_SIZE> {
   public:
     CommMonitoringTask<SerializerType>(const char* taskName,
                                        UBaseType_t priority,
@@ -375,7 +375,6 @@ std::optional<std::reference_wrapper<ICommInterface>> hostInterfaceGetter() {
     }
     return commInterface;
 }
-
 int main(int argc, char** argv) {
     CmdLineArgs cmdLineArgs = {argc, argv};
 
@@ -391,7 +390,7 @@ int main(int argc, char** argv) {
 
     static HardwareInterlocTask s_hardwareInterlocTask("hardware_interloc", gc_taskHighPriority);
     static SoftwareInterlocTask s_softwareInterlocTask("software_interloc", gc_taskNormalPriority);
-    static LogInterlocTask s_logInterlocTask("software_interloc", gc_taskNormalPriority);
+    static LogInterlocTask s_logInterlocTask("software_interloc_log", gc_taskNormalPriority);
 
     static MessageDispatcherTask s_hostDispatchTask("tcp_dispatch", gc_taskNormalPriority, NULL,
                                                     MessageHandlerContainer::getHostMsgQueue());

Diff for: src/bittybuzz/buzz_scripts/main.bzz

@@ -1,7 +1,7 @@
 include "blinky.bzz"
 
 function init() {
-  exec = create_exec()
+  exec = create_exec(20);
 }
 
 function step() {

Diff for: src/bittybuzz/buzz_scripts/utils/types.bzz

@@ -5,7 +5,8 @@
 #    .1 = {.arg_float=types.FLOAT} // Same here
 # };
 # register_closure("someFunction", someClojure, args_description, nil);
+
 types = {
   .INT = 0,
-  .FLOAT = 0.0,
+  .FLOAT = 0.0
 }

Diff for: src/bittybuzz/src/BittyBuzzMessageHandler.cpp

@@ -84,9 +84,13 @@ FunctionCallResponseDTO BittyBuzzMessageHandler::handleFunctionCallRequest(
         const auto& storedArgs = registeredClosure.m_description.getArguments();
         GenericResponseDTO invalidRequestResponse(GenericResponseStatusDTO::BadRequest, "");
 
-        if (registeredClosure.m_description.getArgumentsLength() !=
-            functionRequest.getArgumentsLength()) {
-            m_logger.log(LogLevel::Warn, "BBZ: function call request args length don't match");
+        uint16_t expectedLength = registeredClosure.m_description.getArgumentsLength();
+        uint16_t requiredLength = functionRequest.getArgumentsLength();
+        if (expectedLength != requiredLength) {
+            m_logger.log(
+                LogLevel::Warn,
+                "BBZ: function call request args length don't match. Expect :%d, received %d",
+                expectedLength, requiredLength);
 
             invalidRequestResponse.setDetails("arg length don't match");
             return invalidRequestResponse;

Diff for: src/bittybuzz/src/BittyBuzzUserFunctions.cpp

@@ -69,7 +69,7 @@ void BittyBuzzUserFunctions::log() {
 
     LockGuard lock(BittyBuzzSystem::g_ui->getPrintMutex());
 
-    constexpr uint16_t objStrSize = 32;
+    constexpr uint16_t objStrSize = 256;
     char objStr[objStrSize];
     // Iterate through args, we start a arg 1 up to the nb of
     BittyBuzzSystem::g_ui->print("BBZ USER: ");

Diff for: src/bsp/src/posix/src/SettingsContainer.cpp

@@ -18,7 +18,7 @@ uint16_t SettingsContainer::getUUID() {
 
 uint32_t SettingsContainer::getHostPort() {
     auto handle = getRosNodeHandle();
-    uint32_t port = (uint32_t)handle->param("host_tcp_port", 7001);
+    uint32_t port = (uint32_t)handle->param("host_tcp_port", 55551);
 
     return port;
 }