[CanProtocol] Fixed pipeline

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);

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);

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