From 0b5fe4ea2d4f9980e33fff497f825de0cd7a88cb Mon Sep 17 00:00:00 2001
From: Cantonplas <dcancat@etsinf.upv.es>
Date: Thu, 21 May 2026 19:07:31 +0200
Subject: [PATCH] Add round robin and Stack Packet to DataTemplate. Now
 DataPackets and OrderPackets work without ethernet

---
 .../Packet_generation/DataTemplate.hpp        | 29 ++++++++++++++-----
 .../Packet_generation/OrderTemplate.hpp       |  6 ++--
 2 files changed, 26 insertions(+), 9 deletions(-)

diff --git a/Core/Inc/Code_generation/Packet_generation/DataTemplate.hpp b/Core/Inc/Code_generation/Packet_generation/DataTemplate.hpp
index 81dae9d1..865bf7f7 100644
--- a/Core/Inc/Code_generation/Packet_generation/DataTemplate.hpp
+++ b/Core/Inc/Code_generation/Packet_generation/DataTemplate.hpp
@@ -3,6 +3,10 @@
 
 /*Data packets for {{board}}
 -AUTOGENERATED CODE, DO NOT MODIFY-*/
+
+#ifndef ARRAY_LEN
+#define ARRAY_LEN(Arr) (sizeof(Arr)/sizeof(Arr[0]))
+#endif
 class DataPackets{
 public:
     {% for enum in enums -%}
@@ -13,25 +17,35 @@ class DataPackets{
     {%- endfor %}
     };
     {% endfor %}
-
+#ifdef STLIB_ETH
     {% for packet in packets -%}
     static void {{packet.name}}_init({% for variable in packet.variables %}{{variable.type}} &{{variable.name}}{% if not loop.last %}, {% endif %}{% endfor %})
     {
-        {{packet.name}}_packet = new HeapPacket(static_cast<uint16_t>({{packet.id}}){% if packet.variables %}, {% for variable in packet.variables %}&{{variable.name}}{% if not loop.last %}, {% endif %}{% endfor %}{% endif %});
+        {{packet.name}}_packet = new StackPacket(static_cast<uint16_t>({{packet.id}}){% if packet.variables %}, {% for variable in packet.variables %}&{{variable.name}}{% if not loop.last %}, {% endif %}{% endfor %}{% endif %});
     }
 
     {% endfor -%}
+#endif
 
 public:
+#ifdef STLIB_ETH
     {%for packet in packets -%}
-    inline static HeapPacket *{{packet.name}}_packet{nullptr};
+    inline static Packet *{{packet.name}}_packet{nullptr};
     {% endfor %}
+
+    {% for group in sending_packets -%}
+    inline static uint32_t group_{{loop.index0}}_idx = 0;
+    inline static Packet **group_{{loop.index0}}[] = { {% for packet in group.packets %}&{{packet.name}}_packet{% if not loop.last %}, {% endif %}{% endfor %} };
+    {% endfor %}
+
     {% for socket in DatagramSockets -%}
     inline static {{socket.type}} *{{socket.name}}{nullptr};
     {% endfor %}
+#endif
 
     static void start()
     {
+#ifdef STLIB_ETH
         {% for packet in packets -%}
         if ({{packet.name}}_packet == nullptr) {
             PANIC("Packet {{packet.name}} not initialized");
@@ -43,12 +57,13 @@ class DataPackets{
         {% endfor %}
 
         {%- for group in sending_packets %}
-        Scheduler::register_task({% if group.period_type == "ms" %}{{ (group.period*1000)|round|int }}{% else %}{{ group.period|round|int }}{% endif %}, +[](){
-            {% for packet in group.packets -%}
-            DataPackets::{{packet.socket}}->send_packet(*DataPackets::{{packet.name}}_packet);
-            {% endfor -%}
+        Scheduler::register_task({% if group.period_type == "ms" %}{{ (group.period*1000)|round|int }}{% else %}{{ group.period|round|int }}{% endif %} / ARRAY_LEN(DataPackets::group_{{loop.index0}}), +[](){
+            Packet *packet = *DataPackets::group_{{loop.index0}}[DataPackets::group_{{loop.index0}}_idx];
+            DataPackets::{{group.packets[0].socket}}->send_packet(*packet);
+            DataPackets::group_{{loop.index0}}_idx = (DataPackets::group_{{loop.index0}}_idx + 1) % ARRAY_LEN(DataPackets::group_{{loop.index0}});
         });
         {%- endfor %}
+#endif
     }
 
 
diff --git a/Core/Inc/Code_generation/Packet_generation/OrderTemplate.hpp b/Core/Inc/Code_generation/Packet_generation/OrderTemplate.hpp
index 6911008e..122b087a 100644
--- a/Core/Inc/Code_generation/Packet_generation/OrderTemplate.hpp
+++ b/Core/Inc/Code_generation/Packet_generation/OrderTemplate.hpp
@@ -21,7 +21,7 @@ class OrderPackets{
     {% endfor %}
 
     OrderPackets() = default;
-
+#ifdef STLIB_ETH
     {% for packet in packets -%}
     inline static HeapOrder *{{packet.name}}_order{nullptr};
     {% endfor %}
@@ -39,9 +39,10 @@ class OrderPackets{
     {% for socket in ServerSockets -%}
     inline static {{socket.type}} *{{socket.name}}{nullptr};
     {% endfor %}
-
+#endif
     static void start()
     {
+#ifdef STLIB_ETH
         {% for packet in packets -%}
         if ({{packet.name}}_order == nullptr) {
             PANIC("Order {{packet.name}} not initialized");
@@ -54,6 +55,7 @@ class OrderPackets{
         {% for socket in Sockets -%}
         {{socket.name}} = new Socket("{{socket.board_ip}}",{{socket.local_port}},"{{socket.remote_ip}}",{{socket.remote_port}});
         {% endfor %}
+#endif
     }
 
 private: