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feat: handleSysMessage checks allows user to overwrite CAN system behavior

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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
View File

@ -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 STA_WEAK
void handleSysMessage(CanMsgHeader & header, uint8_t * payload); bool handleSysMessage(CanMsgHeader & header, uint8_t * payload);
} /* namespace tacos */ } /* namespace tacos */

33
src/can_bus.cpp
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@ -63,17 +63,15 @@ namespace sta
sysMsg = *canBusSysQueueBuffer_[i]; sysMsg = *canBusSysQueueBuffer_[i];
canBusSysQueueBuffer_[i] = nullptr; canBusSysQueueBuffer_[i] = nullptr;
// Append to the correct thread's queue if (!handleSysMessage(sysMsg.header, sysMsg.payload)){
for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
if (thread->getCanID() == sysMsg.header.sid){
thread->CAN_queue_.put(sysMsg);
break;
}
}
if(sysMsg.header.sid == STA_TACOS_CAN_BUS_SYS_MSG_ID){ // Append to the correct thread's queue
// Handle system message for (std::shared_ptr<TacosThread> thread : Manager::instance()->getActiveThreads()){
handleSysMessage(sysMsg.header, sysMsg.payload); if (thread->getCanID() == sysMsg.header.sid){
thread->CAN_queue_.put(sysMsg);
break;
}
}
} }
} }
} }
@ -148,15 +146,22 @@ namespace sta {
namespace tacos 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, // 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 // 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 // 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); tacos::setState(payload[0], payload[1], 0, true);
return true;
}
return false;
} }
} // namespace tacos } // namespace tacos
} // namespace sta } // namespace sta