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[HOTFIX] Cleanup can and bus helpers
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,128 @@ | ||
| /* USER CODE BEGIN Header */ | ||
| /* | ||
| * 401 Ballon OBC | ||
| * Copyright (C) 2024 Bluesat and contributors. | ||
| * | ||
| * This program 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. | ||
| * | ||
| * This program 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 | ||
| * this program. If not, see <https://www.gnu.org/licenses/>. | ||
| */ | ||
| /* USER CODE END Header */ | ||
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| #pragma once | ||
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| #include "obc/bus/types.hpp" | ||
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| namespace obc::bus { | ||
| static_assert(Message<BasicMessage>); | ||
| static_assert(Buffer<std::span<std::byte>>); | ||
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| template<typename T> | ||
| struct NullFilter { | ||
| auto Filter(T /*arg*/) -> bool { return true; } | ||
| }; | ||
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| template<typename T> | ||
| constexpr NullFilter<T> kNullFilter {}; | ||
|
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| /** | ||
| * @brief Convert a trivial struct into a readonly byte buffer. | ||
| * | ||
| * Can be used to facilitate trivial deserialization of C-style structs sent on | ||
| * a bus. | ||
| * | ||
| * @warning For portability, the struct should be tightly packed (containing | ||
| * explicit padding fields if required) with fixed sized integers. | ||
| * | ||
| * @tparam T type of the struct to translate. | ||
| */ | ||
| template<typename T> | ||
| requires std::is_trivially_copyable_v<T> | ||
| auto StructAsBuffer(const T& s) -> std::span<const std::byte, sizeof(T)> { | ||
| // This function is constrained to only operate on POD structs | ||
| // NOLINTNEXTLINE(cppcoreguidelines-pro-type-reinterpret-cast) | ||
| return {reinterpret_cast<const std::byte*>(&s), sizeof(T)}; | ||
| } | ||
|
|
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| /** | ||
| * @brief Convert a trivial struct into a read-write byte buffer. | ||
| * | ||
| * Can be used to facilitate trivial deserialization of C-style structs sent on | ||
| * a bus. | ||
| * | ||
| * @warning For portability, the struct should be tightly packed (containing | ||
| * explicit padding fields if required) with fixed sized integers. | ||
| * | ||
| * @tparam T type of the struct to translate. | ||
| */ | ||
| template<typename T> | ||
| requires std::is_trivially_copyable_v<T> | ||
| auto StructAsBuffer(T& s) -> std::span<std::byte, sizeof(T)> { | ||
| // This function is constrained to only operate on POD structs | ||
| // NOLINTNEXTLINE(cppcoreguidelines-pro-type-reinterpret-cast) | ||
| return {reinterpret_cast<std::byte*>(&s), sizeof(T)}; | ||
| } | ||
|
|
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| /** | ||
| * @brief A helper class for implementing listening functionality. | ||
| * | ||
| * `FeedListeners` should be called for each incoming message. Typically | ||
| * this should be invoked before feeding requesters and processors to | ||
| * avoid them invalidating the data buffer which the message is potentially | ||
| * stored in. | ||
| * | ||
| * @tparam M The type of message received. | ||
| */ | ||
| template<utils::MaybeError E = utils::Never, Message M = BasicMessage> | ||
| class ListenBusMixin { | ||
| using ListenCallback = ipc::Callback<void, const std::expected<M, E>&>; | ||
| using FilterCallback = ipc::Callback<bool, const std::expected<M, E>&>; | ||
|
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| public: | ||
| using ListenHandle = | ||
| utils::Handle<std::tuple<ListenCallback, FilterCallback>>; | ||
| using ListenDispatchError = utils::Never; | ||
| using ListenCallbackError = E; | ||
|
|
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| /** | ||
| * @brief Adds a listener to be notified upon receiving a message. | ||
| * | ||
| * @param cb The listener callback to add. | ||
| * @return An opaque handle that must be retained for the listener to remain | ||
| * active. | ||
| */ | ||
| auto Listen( | ||
| ListenCallback&& cb, | ||
| FilterCallback&& flt = OBC_CALLBACK_METHOD( | ||
| (kNullFilter<const std::expected<M, E>&>), Filter | ||
| ) | ||
| ) -> std::expected<ListenHandle, ListenDispatchError> { | ||
| return ListenHandle(m_listeners, {std::move(cb), std::move(flt)}); | ||
| } | ||
|
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| protected: | ||
| /** | ||
| * @brief Forwards a message to all listeners. | ||
| * | ||
| * Should be called upon receiving any incoming message. | ||
| * | ||
| * @param msg The message to be forwarded. | ||
| */ | ||
| auto FeedListeners(const std::expected<M, E>& msg) -> void { | ||
| for (const auto& [cb, flt] : m_listeners) | ||
| if (flt()) cb(msg); | ||
| } | ||
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| private: | ||
| utils::HandleChainRoot<ListenCallback> m_listeners {}; | ||
| }; | ||
| } // namespace obc::bus |
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