From 16b2ed5a20df1c04b9bbcf5e12101d5e822e45d2 Mon Sep 17 00:00:00 2001
From: "@CarlWachter" <carlwachter@web.de>
Date: Fri, 16 Feb 2024 17:43:28 +0100
Subject: [PATCH] Can bus start without handle

---
 include/sta/tacos.hpp         |  3 +++
 include/sta/tacos/can_bus.hpp |  8 ++++----
 src/can_bus.cpp               | 28 +++++++++++++++++-----------
 src/startup.cpp               |  2 +-
 src/tacos.cpp                 |  6 +++++-
 5 files changed, 30 insertions(+), 17 deletions(-)

diff --git a/include/sta/tacos.hpp b/include/sta/tacos.hpp
index c5d6edc..74f1593 100644
--- a/include/sta/tacos.hpp
+++ b/include/sta/tacos.hpp
@@ -11,6 +11,7 @@
 #include <sta/tacos/thread.hpp>
 #include <sta/tacos/manager.hpp>
 #include <sta/tacos/statemachine.hpp>
+#include <sta/tacos/can_bus.hpp>
 
 #include <initializer_list>
 #include <type_traits>
@@ -76,6 +77,8 @@ namespace sta
 
             return thread_ptr;
         }
+
+		//bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout);
 	}  // namespace tacos
 }
 
diff --git a/include/sta/tacos/can_bus.hpp b/include/sta/tacos/can_bus.hpp
index 82a9cd8..4762098 100644
--- a/include/sta/tacos/can_bus.hpp
+++ b/include/sta/tacos/can_bus.hpp
@@ -32,19 +32,19 @@ namespace sta
         {
         public:
 
-			CanBus(CAN_HandleTypeDef * controller);
+			CanBus();
 
             /**
 			 * @brief Getter function for the singleton instance.
 			 */
-			static CanBus* instance(CAN_HandleTypeDef * handle)
+			static CanBus* instance()
 			{
 				static CGuard g;
 
 				if (!_instance)
 				{
 					// Create the can bus singleton instance.
-					CanBus::_instance = new CanBus(handle);
+					CanBus::_instance = new CanBus();
 				}
 
 				return _instance;
@@ -115,7 +115,7 @@ namespace sta
 
             AlpakaCanBus canBus_;
 
-
+            static RtosEvent messageEvent;
         };
 
 
diff --git a/src/can_bus.cpp b/src/can_bus.cpp
index c06a947..acbcff0 100644
--- a/src/can_bus.cpp
+++ b/src/can_bus.cpp
@@ -2,17 +2,16 @@
 #ifdef STA_CAN_BUS_ENABLE
 
 #include <sta/tacos/can_bus.hpp>
-#include <sta/rtos/system/can_bus.hpp>
-#include <sta/debug/debug.hpp>
 #include <sta/debug/assert.hpp>
-
+// TODO fix this shit
+extern CAN_HandleTypeDef hcan1;
 namespace sta
 {
 	namespace tacos
 	{
-		CanBus::CanBus(CAN_HandleTypeDef * controller)
+		CanBus::CanBus()
 			: TacosThread{"Can Bus", STA_TACOS_CAN_BUS_PRIORITY},
-			  canBusController_(new STM32CanController(controller)),
+			  canBusController_(new STM32CanController(&STA_STM32_CAN_HANDLE)),
 			  canBusSysQueue_(STA_RTOS_CAN_BUS_QUEUE_LENGTH),
 			  canBusDataQueue_(STA_RTOS_CAN_BUS_QUEUE_LENGTH),
               canBus_{canBusController_, HAL_GetTick, sta::tacos::handleSysMessage, sta::tacos::handleDataMessage}
@@ -26,8 +25,10 @@ namespace sta
 
         void CanBus::func()
         {
-            uint32_t flags = osThreadFlagsWait(STA_RTOS_THREAD_FLAGS_VALID_BITS, osFlagsWaitAny, 50);
+        	messageEvent.clear(STA_RTOS_CAN_ANY);
+            uint32_t flags = messageEvent.wait(STA_RTOS_CAN_ANY, osWaitForever);
 
+            STA_DEBUG_PRINTLN("CanBus received Flag");
             if (flags != static_cast<uint32_t>(osErrorTimeout))
             {
                 STA_ASSERT_MSG((flags & osStatusReserved) == flags, "Unexpected error occurred in wait");
@@ -38,6 +39,7 @@ namespace sta
                     CanSysMsg msg;
                     while (CanBus::_instance->getCanBusMsg(&msg, 0))
                     {
+                    	STA_DEBUG_PRINTLN("CanBus about to send");
                         canBus_.send(msg);
                     }
                 }
@@ -76,8 +78,9 @@ namespace sta
 
 			if (canBusDataQueue_.put(msg, timeout))
 			{
-				// Signal thread
-				notify(STA_RTOS_CAN_FLAG_DATA_QUEUED);
+				// Signal task
+				messageEvent.set(STA_RTOS_CAN_FLAG_DATA_QUEUED);
+				messageEvent.clear(STA_RTOS_CAN_ANY);
 				return true;
 			}
 			else
@@ -92,8 +95,9 @@ namespace sta
 
 			if (canBusSysQueue_.put(msg, timeout))
 			{
-				// Signal thread
-				notify(STA_RTOS_CAN_FLAG_SYS_QUEUED);
+				// Signal tasek
+				messageEvent.set(STA_RTOS_CAN_FLAG_SYS_QUEUED);
+				messageEvent.clear(STA_RTOS_CAN_ANY);
 				return true;
 			}
 			else
@@ -115,6 +119,8 @@ namespace sta
 
 		CanBus* CanBus::_instance = nullptr;
 
+		RtosEvent CanBus::messageEvent;
+
     } /* namespace tacos */
 } /* namespace sta */
 
@@ -193,4 +199,4 @@ namespace sta {
 	} // namespace tacos
 } // namespace sta
 
-#endif // STA_CAN_BUS_ENABLE
\ No newline at end of file
+#endif // STA_CAN_BUS_ENABLE
diff --git a/src/startup.cpp b/src/startup.cpp
index 3531b63..8acfc29 100644
--- a/src/startup.cpp
+++ b/src/startup.cpp
@@ -154,7 +154,7 @@ namespace sta
 		{
 			onCanBusInit();
 
-			CanBus::instance(getCanController())->start();
+			CanBus::instance()->start();
 		}
 #endif //STA_CAN_BUS_ENABLE
 	}  // namespace tacos
diff --git a/src/tacos.cpp b/src/tacos.cpp
index 45aa708..8cc7d1b 100644
--- a/src/tacos.cpp
+++ b/src/tacos.cpp
@@ -7,7 +7,6 @@
 
 #include <sta/tacos.hpp>
 
-
 namespace sta
 {
     namespace tacos
@@ -26,6 +25,11 @@ namespace sta
         {
             Statemachine::instance()->requestTimedStateTransition(from, to, millis, lockout);
         }
+		/*bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout){
+			//extern CAN_HandleTypeDef hcan1;
+			//return CanBus::instance(STA_STM32_CAN_HANDLE)->queueCanBusMsg(msg, timeout);
+			return false;
+		}*/
     } // namespace tacos
     
 } // namespace sta