connection fix from 4/15/24 testing w/ Cody

.devcontainer/devcontainer.json

@@ -1,12 +1,17 @@
 // See this page for reference of options: https://containers.dev/implementors/json_reference
 {
 	"name": "Existing Dockerfile",
-	"image": "ghcr.io/tritonuas/obcpp:x86",
+	"image": "ghcr.io/tritonuas/obcpp:main",
 	// enable when need to connect over USB to pixhawk
 	// also: need to run obcpp with sudo or add tuas user to dialout group with
 	// 	   `sudo usermod -aG dialout tuas && newgrp && bash`
 	// "runArgs": ["--device=/dev/ttyACM0"], 
 
+    "appPort": [ "45906:45906/udp", "45907:45907/udp" ], // port forward airdrop ports for local testing
+	"runArgs": [
+		"--network=host"
+	],
+
 	"customizations": {
 		"vscode": {
 			"settings": {

include/airdrop/packet.h

@@ -52,6 +52,7 @@ enum ad_packet_hdr {
     // Handshake to establish connection
     SET_MODE    = 1,
     ACK_MODE    = 2,
+    RESET_MODE  = 3, // TODO:
 
     // Direct Drop
     DROP_NOW    = 100,
@@ -91,7 +92,6 @@ inline int validate_packet_as(enum ad_packet_hdr hdr, ad_packet_t packet) {
     }
 
     switch (packet.hdr) {
-        case HEARTBEAT:
         case ACK_MODE:
             return 1;
         case SET_MODE:
@@ -102,6 +102,7 @@ inline int validate_packet_as(enum ad_packet_hdr hdr, ad_packet_t packet) {
         case REVOKE:
         case ACK_REVOKE:
         case ABOUT_TO_RELEASE:
+        case HEARTBEAT:
             return (packet.data >= BOTTLE_A && packet.data <= BOTTLE_E);
         default:
             return 0;

src/network/airdrop_client.cpp

@@ -55,6 +55,8 @@ void AirdropClient::_establishConnection() {
     LOG_F(INFO, "Payload connection established in %s mode",
         (this->mode == DIRECT_DROP) ? "Direct" : "Indirect");
 
+    send_ad_packet(this->socket, make_ad_packet(ad_packet_hdr::ACK_MODE, *this->mode));
+
     this->worker_future = std::async(std::launch::async, &AirdropClient::_receiveWorker, this);
 }
 
@@ -173,6 +175,12 @@ void AirdropClient::_receiveWorker() {
             continue;  // heartbeat, so we should not put it in the queue
         }
 
+        if (packet.hdr == SET_MODE) {
+            send_ad_packet(this->socket, make_ad_packet(ad_packet_hdr::ACK_MODE, *this->mode));
+            LOG_F(INFO, "Received extra SET_MODE, reacking");
+            continue;
+        }
+
         Lock lock(this->recv_mut);
         this->recv_queue.emplace(packet);
     }
@@ -188,5 +196,7 @@ bool AirdropClient::_parseHeartbeats(ad_packet_t packet) {
     // subtract 1 to get the index into the lastHeartbeat array.
     this->last_heartbeat[packet.data - 1] = getUnixTime_ms();
 
+    LOG_F(INFO, "Packet heartbeat from %d", packet.data);
+
     return true;
 }

src/ticks/mission_prep.cpp

@@ -15,7 +15,13 @@ std::chrono::milliseconds MissionPrepTick::getWait() const {
     return MISSION_PREP_TICK_WAIT;
 }
 
+using namespace std::chrono_literals;
+
 Tick* MissionPrepTick::tick() {
+    if (this->state->getAirdrop() != nullptr) {
+        LOG_F(INFO, "%ld", this->state->getAirdrop()->getLostConnections(1s).size());
+    }
+
     if (this->state->config.getCachedMission().has_value()) {
         LOG_F(INFO, "Valid mission configuration detected");
         return new PathGenTick(this->state);