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feat: handleSysMessage checks allows user to overwrite CAN system behavior

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This commit is contained in:
CarlWachter 2024-08-23 15:59:35 +02:00 committed by carlwachter
parent d028ecef74
commit dd4c5f34a2
2 changed files with 29 additions and 17 deletions
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13
include/sta/tacos/can_bus.hpp
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@ -111,10 +111,17 @@ namespace sta
};
/**
* @brief Callback function for handling received messages. Intended for state transitions.
*/
* @brief Handle system messages received over the CAN bus. Called as soon as a message is received. If
* the message is a system message, it will be handled here. If the message is not a system message, it will be
* passed to the appropriate thread's queue.
*
* @param header The header of the received message.
* @param payload The payload of the received message.
*
* @return True if the message was a system message.
*/
STA_WEAK
void handleSysMessage(CanMsgHeader & header, uint8_t * payload);
bool handleSysMessage(CanMsgHeader & header, uint8_t * payload);
} /* namespace tacos */

33
src/can_bus.cpp
View File

@ -63,17 +63,15 @@ namespace sta
sysMsg = *canBusSysQueueBuffer_[i];
canBusSysQueueBuffer_[i] = nullptr;
// Append to the correct thread's queue
for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
if (thread->getCanID() == sysMsg.header.sid){
thread->CAN_queue_.put(sysMsg);
break;
}
}
if (!handleSysMessage(sysMsg.header, sysMsg.payload)){
if(sysMsg.header.sid == STA_TACOS_CAN_BUS_SYS_MSG_ID){
// Handle system message
handleSysMessage(sysMsg.header, sysMsg.payload);
// Append to the correct thread's queue
for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
if (thread->getCanID() == sysMsg.header.sid){
thread->CAN_queue_.put(sysMsg);
break;
}
}
}
}
}
@ -148,15 +146,22 @@ namespace sta {
namespace tacos
{
void handleSysMessage(CanMsgHeader & header, uint8_t * payload)
STA_WEAK
bool handleSysMessage(CanMsgHeader & header, uint8_t * payload)
{
// 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);
if(header.sid == 0x0){
STA_ASSERT(header.payloadLength == 2);
// First byte of payload is the origin state, second byte is the destination state. Transition is forced
tacos::setState(payload[0], payload[1], 0, true);
// First byte of payload is the origin state, second byte is the destination state. Transition is forced
tacos::setState(payload[0], payload[1], 0, true);
return true;
}
return false;
}
} // namespace tacos
} // namespace sta