From c327ec2ede4fd38bc7cabcf1875ad7ed287e2c18 Mon Sep 17 00:00:00 2001
From: "@CarlWachter" <carlwachter@web.de>
Date: Mon, 1 Jan 2024 16:26:02 +0100
Subject: [PATCH] Cleanup

---
 include/sta/tacos/can_bus.hpp |  6 ++----
 src/can_bus.cpp               | 14 ++++++--------
 2 files changed, 8 insertions(+), 12 deletions(-)

diff --git a/include/sta/tacos/can_bus.hpp b/include/sta/tacos/can_bus.hpp
index ca3e4d4..562970c 100644
--- a/include/sta/tacos/can_bus.hpp
+++ b/include/sta/tacos/can_bus.hpp
@@ -8,7 +8,6 @@
 
 #include <sta/tacos/thread.hpp>
 #include <sta/rtos/queue.hpp>
-#include <sta/debug/assert.hpp>
 #include <sta/rtos/system/can_bus.hpp>
 
 
@@ -101,12 +100,11 @@ namespace sta
             RtosQueue<CanDataMsg> canBusDataQueue_;
             RtosQueue<CanDataMsg> canBusSysQueue_;
 
-            CanDataMsg canBusDataQueueBuffer[queueLength];
-            CanSysMsg canBusSysQueueBuffer[queueLength];
+            CanDataMsg canBusDataQueueBuffer_[queueLength];
+            CanSysMsg canBusSysQueueBuffer_[queueLength];
             uint32_t canBusStack[256];
 
             sta::STM32CanController * canBusController_;
-	        const size_t queueLength_;
             AlpakaCanBus canBus_;
         }
 
diff --git a/src/can_bus.cpp b/src/can_bus.cpp
index c6bd795..2fd2cdc 100644
--- a/src/can_bus.cpp
+++ b/src/can_bus.cpp
@@ -9,8 +9,6 @@ namespace sta
 		CanBus::CanBus(CAN_HandleTypeDef * handle)
 			: TacosThread{"Can Bus", STA_TACOS_CAN_BUS_PRIORITY},
 			  canBusController_{handle},
-              canBusDataQueueBuffer{nullptr},
-              canBusSysQueueBuffer{nullptr},
 			  canSysDataQueue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
 			  canBusDataQueue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
               canBus_{&canBusController_, HAL_GetTick, dummy::handleSysMessage, dummy::handleDataMessage}
@@ -67,7 +65,7 @@ namespace sta
             canBus.processTx();
         }
 
-        bool queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout)
+        bool CanBus::queueCanBusMsg(const CanDataMsg & msg, uint32_t timeout)
 		{
 			STA_ASSERT((msg.header.sid & STA_CAN_SID_SYS_BITS) == 0);
 			STA_ASSERT(msg.header.payloadLength <= sizeof(msg.payload));
@@ -84,7 +82,7 @@ namespace sta
 			}
 		}
 
-		bool queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout)
+		bool CanBus::queueCanBusMsg(const CanSysMsg & msg, uint32_t timeout)
 		{
 			STA_ASSERT((msg.header.sid & ~STA_CAN_SID_SYS_BITS) == 0);
 
@@ -101,14 +99,14 @@ namespace sta
 		}
 
 
-		bool getCanBusMsg(CanDataMsg * msg, uint32_t timeout)
+		bool CanBus::getCanBusMsg(CanDataMsg * msg, uint32_t timeout)
 		{
-			return (osOK == osMessageQueueGet(canBusDataQueueHandle, msg, 0, timeout));
+			return (canBusDataQueueBuffer_.get(msg, timeout));
 		}
 
-		bool getCanBusMsg(CanSysMsg * msg, uint32_t timeout)
+		bool CanBus::getCanBusMsg(CanSysMsg * msg, uint32_t timeout)
 		{
-			return (osOK == osMessageQueueGet(canBusSysQueueHandle, msg, 0, timeout));
+			return (canBusSysQueueBuffer_.get(msg, timeout));
 		}
 
     } /* namespace tacos */