From 8cca312f82d843aedc1f4fe2e8078d184aecdd96 Mon Sep 17 00:00:00 2001
From: Federico Mandelli <federicomandelli@skywarder.eu>
Date: Wed, 26 Jul 2023 13:33:17 +0200
Subject: [PATCH] [CanProtocol] Fixed pipeline
---
.../drivers/canbus/CanProtocol/CanProtocol.cpp | 8 +-------
src/shared/drivers/canbus/CanProtocol/CanProtocol.h | 12 +-----------
.../canbus/CanProtocol/test-can-protocol-2way.cpp | 9 ++++++---
3 files changed, 8 insertions(+), 21 deletions(-)
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
index 473a1f2c4..7004bfa05 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
@@ -30,14 +30,8 @@ namespace Boardcore
namespace Canbus
{
-CanProtocol::CanProtocol(CanbusDriver* can, MsgHandler onReceive)
-{
- // We assume the bus to be configured at its max velocity
- CanProtocol(can, onReceive, 500 * 1000);
-}
-
CanProtocol::CanProtocol(CanbusDriver* can, MsgHandler onReceive,
- uint32_t baudRate)
+ uint32_t baudRate = 500 * 1000)
: can(can), onReceive(onReceive)
{
loadEstimator = new BusLoadEstimation(baudRate);
diff --git a/src/shared/drivers/canbus/CanProtocol/CanProtocol.h b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
index 1c2942a45..cf6f80c4e 100644
--- a/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
+++ b/src/shared/drivers/canbus/CanProtocol/CanProtocol.h
@@ -51,16 +51,6 @@ class CanProtocol
using MsgHandler = std::function<void(CanMessage data)>;
public:
- /**
- * @brief Construct a new CanProtocol object.
- *
- * @param can Pointer to a CanbusDriver object.
- *
- * @param onReceive function to be called when a new message is received.
- */
-
- CanProtocol(CanbusDriver* can, MsgHandler onReceive);
-
/**
* @brief Construct a new CanProtocol object.
*
@@ -68,7 +58,7 @@ public:
*
* @param onReceive function to be called when a new message is received.
*
- * @param baudRate used to calculate bus usage.
+ * @param baudRate used to calculate bus usage (default 500*1000).
*/
CanProtocol(CanbusDriver* can, MsgHandler onReceive, uint32_t baudRate);
diff --git a/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp b/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp
index 53ff65c4a..1d62c6ec7 100644
--- a/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp
+++ b/src/tests/drivers/canbus/CanProtocol/test-can-protocol-2way.cpp
@@ -115,7 +115,7 @@ void sendNewRequest()
protocol->enqueueData(0x00, id, 0x01, 0x00, 0x00, f);
}
-class MessageCollector : public ActiveObject
+class MessageCollect : public ActiveObject
{
public:
void run() override
@@ -190,7 +190,7 @@ private:
Stats msgstats;
};
-MessageCollector mc;
+MessageCollect mc;
int main()
{
@@ -203,7 +203,10 @@ int main()
bt.samplePoint = SAMPLE_POINT;
CanbusDriver* c1 = new CanbusDriver(CAN1, cfg, bt);
- CanbusDriver* c = new CanbusDriver(CAN2, cfg, bt);
+ if (false && c1)
+ {
+ }
+ CanbusDriver* c = new CanbusDriver(CAN2, cfg, bt);
protocol = new CanProtocol(c, bind(&handleCanMessage, _1), BAUD_RATE);
// Allow every message _1
--
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