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Added Publishing and handling of CAN state transition

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This commit is contained in:
CarlWachter
2024-04-30 17:33:52 +02:00
parent e3283848ef
commit 3af6656e0f
3 changed files with 45 additions and 1 deletions
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9
src/can_bus.cpp
View File

@@ -4,6 +4,7 @@
#include <sta/tacos/can_bus.hpp>
#include <sta/debug/assert.hpp>
#include <sta/tacos/manager.hpp>
#include <sta/tacos.hpp>
extern CAN_HandleTypeDef STA_STM32_CAN_HANDLE;
@@ -149,7 +150,13 @@ namespace sta {
{
void handleSysMessage(CanMsgHeader & header, uint8_t * payload)
{
// This is a weak function that can be overridden by the user
// This is a weak function that can be overridden by the user,
// if they want to handle system messages in a different way, i.e. ignore them
STA_ASSERT(header.payloadLength == 2);
// First byte of payload is the origin state, second byte is the destination state
tacos::setState(payload[0], payload[1]);
}
} // namespace tacos
} // namespace sta

13
src/tacos.cpp
View File

@@ -29,6 +29,19 @@ namespace sta
bool queueCanBusMsg(CanSysMsg & msg, uint32_t timeout){
return CanBus::instance()->queueCanBusMsg(msg, timeout);
}
bool publishState(uint32_t from, uint32_t to, uint32_t lockout /* = 0 */){
CanSysMsg msg;
msg.header.sid = STA_TACOS_CAN_BUS_SYS_MSG_ID;
msg.header.payloadLength = 2;
msg.payload[0] = from;
msg.payload[1] = to;
msg.header.eid = 0;
msg.header.format = 0;
return CanBus::instance()->queueCanBusMsg(msg, lockout);
}
} // namespace tacos
} // namespace sta