CAN w/o isotp

src/system/can_bus.cpp

@@ -10,8 +10,6 @@
 #include <sta/debug/debug.hpp>
 #include <sta/bus/can/subscribable.hpp>
 #include <sta/lang.hpp>
-#include <sta/proto/isotp/transmitter.hpp>
-#include <sta/proto/isotp/receiver.hpp>
 #include <sta/rtos/defs.hpp>
 #include <sta/rtos/system/events.hpp>
 #include <sta/devices/stm32/hal.hpp>
@@ -62,12 +60,9 @@ namespace debug
 
 namespace sta
 {
-	AlpakaCanBus::AlpakaCanBus(CanController * controller, TimeMsFn timeMs, SysMsgHandler sysMsgHandler, DataMsgHandler dataMsgHandler)
-		: controller_{controller}, tx_{controller, timeMs}, rx_{controller, timeMs}, handleSysMsg_{sysMsgHandler}, handleDataMsg_{dataMsgHandler}
+	AlpakaCanBus::AlpakaCanBus(CanController * controller, TimeMsFn timeMs)
+		: controller_{controller}
 	{
-		STA_ASSERT(handleSysMsg_ != nullptr);
-		STA_ASSERT(handleDataMsg_ != nullptr);
-
 		setupSubscriptions();
 	}
 
@@ -83,91 +78,6 @@ namespace sta
 		controller_->sendFrame(header, msg.payload);
 	}
 
-	void AlpakaCanBus::send(const CanDataMsg & msg)
-	{
-		CanFrameId frameID;
-		frameID.format = static_cast<CanIdFormat>(msg.header.format);
-		frameID.sid    = msg.header.sid;
-		frameID.eid    = msg.header.eid;
-
-		// Start transmission via ISO-TP
-		tx_.send(frameID, msg.payload, msg.header.payloadLength);
-	}
-
-
-	void AlpakaCanBus::processTx()
-	{
-		tx_.process();
-	}
-
-
-	void AlpakaCanBus::processRx()
-	{
-		for (auto fifo : controller_->getPendingRxFifos())
-		{
-			CanRxHeader header;
-			uint8_t payload[STA_RTOS_CAN_BUS_MAX_PAYLOAD_SIZE];
-
-			if (controller_->receiveFrame(fifo, &header, payload))
-			{
-				//debug::displayFrameUART(frame);
-
-				// Forward frame to callback
-				switch (fifo)
-				{
-				case FIFO_SYS:
-					handleSysMsg_(header, payload);
-					break;
-
-				case FIFO_DATA:
-					receiveDataFrame(header, payload);
-					break;
-
-				default:
-					STA_ASSERT(false);
-				}
-			}
-		}
-	}
-
-	void AlpakaCanBus::showStatistics()
-	{
-		STA_DEBUG_PRINTLN();
-		STA_DEBUG_PRINTLN("# ######################");
-		STA_DEBUG_PRINTLN("# ## ISOTP statistics ##");
-		STA_DEBUG_PRINTLN("# ######################");
-		STA_DEBUG_PRINTLN("#");
-
-		const auto & txStats = tx_.stats();
-		STA_DEBUG_PRINTLN("# Transmitter");
-		STA_DEBUG_PRINT("#     messages: ");
-		STA_DEBUG_PRINTLN(txStats.messages);
-		STA_DEBUG_PRINT("#     blocks: ");
-		STA_DEBUG_PRINTLN(txStats.blocks);
-		STA_DEBUG_PRINT("#     frames: ");
-		STA_DEBUG_PRINTLN(txStats.frames);
-		STA_DEBUG_PRINT("#     timeouts: ");
-		STA_DEBUG_PRINTLN(txStats.timeouts);
-		STA_DEBUG_PRINTLN("#");
-
-		const auto & rxStats = rx_.stats();
-		STA_DEBUG_PRINTLN("# Receiver");
-		STA_DEBUG_PRINT("#     messages: ");
-		STA_DEBUG_PRINTLN(rxStats.messages);
-		STA_DEBUG_PRINT("#     blocks: ");
-		STA_DEBUG_PRINTLN(rxStats.blocks);
-		STA_DEBUG_PRINT("#     frames: ");
-		STA_DEBUG_PRINTLN(rxStats.frames);
-		STA_DEBUG_PRINT("#     timeouts: ");
-		STA_DEBUG_PRINTLN(rxStats.timeouts);
-		STA_DEBUG_PRINT("#     flow control errors: ");
-		STA_DEBUG_PRINTLN(rxStats.flowErrors);
-		STA_DEBUG_PRINT("#     overflows: ");
-		STA_DEBUG_PRINTLN(rxStats.overflows);
-		STA_DEBUG_PRINTLN();
-	}
-
-
 	void AlpakaCanBus::setupSubscriptions()
 	{
 		// Make sure to receive all messages
@@ -192,32 +102,6 @@ namespace sta
 		filter.fifo = FIFO_DATA;
 		controller_->configureFilter(FIFO_DATA, filter, true);
 	}
-
-	void AlpakaCanBus::receiveDataFrame(const CanRxHeader & header, const uint8_t * payload)
-	{
-		// Write frame payload to DebugSerial
-		STA_DEBUG_PRINTLN("[event] RX data frame");
-		debug::printPayloadHex(payload, header.payloadLength);
-
-		// Process RX frame
-		auto handle = rx_.processFrame(header, payload);
-
-		if (handle != IsotpReceiver::INVALID_HANDLE)
-		{
-			// Get message if completed
-			IsotpMessage msg;
-			if (rx_.getMessage(handle, &msg))
-			{
-				handleDataMsg_(msg);
-			}
-
-			// Handle FC responses
-			rx_.processFC(handle);
-		}
-
-		// Process TX frame
-		tx_.processFrame(header, payload);
-	}
 } // namespace sta
 
 #endif // STA_CAN_BUS_ENABLE