can_rx_handler.hpp

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/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
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/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_CAN_RX_HANDLER_HPP_
#define TAPROOT_CAN_RX_HANDLER_HPP_
 
#include <cstdint>
 
#include "tap/util_macros.hpp"
 
#include "can_bus.hpp"
 
namespace modm::can
{
class Message;
}
 
namespace tap
{
class Drivers;
}
 
namespace tap::can
{
class CanRxListener;
 
class CanRxHandler
{
public:
    static constexpr uint8_t CAN_BINS = 8;
 
    CanRxHandler(Drivers* drivers);
    mockable ~CanRxHandler() = default;
    DISALLOW_COPY_AND_ASSIGN(CanRxHandler)
 
    
    static inline uint16_t binIndexForCanId(uint16_t canId) { return canId % CAN_BINS; }
 
    mockable void attachReceiveHandler(CanRxListener* const listener);
 
    mockable void pollCanData();
 
    mockable void removeReceiveHandler(const CanRxListener& rxListener);
 
protected:
    Drivers* drivers;
 
    CanRxListener* messageHandlerStoreCan1[CAN_BINS];
 
    CanRxListener* messageHandlerStoreCan2[CAN_BINS];
 
#if defined(PLATFORM_HOSTED) && defined(ENV_UNIT_TESTS)
public:
#endif
 
    void attachReceiveHandler(
        CanRxListener* const canRxListener,
        CanRxListener** messageHandlerStore);
 
    void processReceivedCanData(
        const modm::can::Message& rxMessage,
        CanRxListener* const* messageHandlerStore);
 
    void removeReceiveHandler(
        const CanRxListener& canRxListener,
        CanRxListener** messageHandlerStore);
 
    inline CanRxListener** getHandlerStore(CanBus bus)
    {
        return bus == CanBus::CAN_BUS1 ? messageHandlerStoreCan1 : messageHandlerStoreCan2;
    }
};  // class CanRxHandler
 
}  // namespace tap::can
 
#endif  // TAPROOT_CAN_RX_HANDLER_HPP_