Merge pull request #271 from HyperloopUPV-H8/fix/general_issues

fix/general_issues

Author: hyperloop-orangeman

Inc/HALAL/Services/Communication/Ethernet/TCP/ServerSocket.hpp

@@ -59,12 +59,12 @@ class ServerSocket : OrderProtocol{
 		}
 
 		uint8_t* order_buffer = order.build();
-		if(order.size > tcp_sndbuf(client_control_block)){
+		if(order.get_size() > tcp_sndbuf(client_control_block)){
 			return false;
 		}
 
-		struct pbuf* packet = pbuf_alloc(PBUF_TRANSPORT, order.size, PBUF_POOL);
-		pbuf_take(packet, order_buffer, order.size);
+		struct pbuf* packet = pbuf_alloc(PBUF_TRANSPORT, order.get_size(), PBUF_POOL);
+		pbuf_take(packet, order_buffer, order.get_size());
 		tx_packet_buffer.push(packet);
 		send();
 		return true;

Inc/HALAL/Services/Communication/FDCAN/FDCAN.hpp

@@ -112,9 +112,6 @@ class FDCAN{
 
     static bool read(uint8_t id, FDCAN::Packet* data);
 
-    //The use of this method is highly discouraged.
-    static bool wait_and_read(uint8_t id, FDCAN::Packet* data);
-
     /**
 	 * @brief This method is used to check if the FDCAN have received any new packet.
 	 *

Src/HALAL/Services/Communication/FDCAN/FDCAN.cpp

@@ -101,70 +101,21 @@ bool FDCAN::transmit(uint8_t id, uint32_t message_id, span<uint8_t> data, FDCAN:
 	return true;
 }
 
-void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs){
-	if (not FDCAN::handle_to_fdcan.contains(hfdcan)) {
-		printf("Warning: message received from an unknown FDCAN");
-		return;
-	}
-
-	if (FDCAN::handle_to_fdcan[hfdcan]->rx_queue.size() >= FDCAN::handle_to_fdcan[hfdcan]->rx_queue_max_size) {
-		return; // TODO: WARNING RX_QUEUE FULL
-	}
-
-	FDCAN::DLC dlc = FDCAN::handle_to_fdcan[hfdcan]->dlc;
-
-	vector<uint8_t> data_buffer(FDCAN::dlc_to_len[dlc]);
-
-	FDCAN_RxHeaderTypeDef header_buffer = FDCAN_RxHeaderTypeDef();
-	HAL_FDCAN_GetRxMessage(hfdcan, FDCAN::handle_to_fdcan[hfdcan]->rx_location, &header_buffer, data_buffer.data());
-
-
-	FDCAN::Packet packet_buffer = {data_buffer, header_buffer.Identifier, (FDCAN::DLC)header_buffer.DataLength};
-	FDCAN::handle_to_fdcan[hfdcan]->rx_queue.push(packet_buffer);
-}
+// void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs){}
 
 bool FDCAN::read(uint8_t id, FDCAN::Packet* data){
 	if (not FDCAN::registered_fdcan.contains(id)) {
 		ErrorHandler("There is no FDCAN registered with id: %d.", id);
 		return false;
 	}
 
-	if (FDCAN::registered_fdcan[id]->rx_queue.empty()) {
-		data->rx_data.clear();
-		data->data_length = FDCAN::DLC::BYTES_0;
-		data->identifier = 0;
-		return false;
-	}
-
-	FDCAN::Packet packet = FDCAN::registered_fdcan[id]->rx_queue.front();
-
-	data->rx_data = packet.rx_data;
-	data->identifier = packet.identifier;
-	data->data_length = packet.data_length;
-
-	FDCAN::registered_fdcan[id]->rx_queue.pop();
-
-	return true;
-}
-
-bool FDCAN::wait_and_read(uint8_t id, FDCAN::Packet* data){
-	if (not FDCAN::registered_fdcan.contains(id)) {
-		ErrorHandler("There is no FDCAN registered with id: %d.", id);
+	if(!FDCAN::received_test(id)) {
 		return false;
 	}
+	FDCAN_RxHeaderTypeDef header_buffer = FDCAN_RxHeaderTypeDef();
+	HAL_FDCAN_GetRxMessage(FDCAN::registered_fdcan.at(id)->hfdcan, FDCAN::registered_fdcan.at(id)->rx_location, &header_buffer, data->rx_data.data());
 
-	//Wait until the arrival of a message.
-	while (FDCAN::registered_fdcan[id]->rx_queue.empty()) {
-	}
-
-	FDCAN::Packet packet = FDCAN::registered_fdcan[id]->rx_queue.front();
-
-	data->rx_data = packet.rx_data;
-	data->identifier = packet.identifier;
-	data->data_length = packet.data_length;
-
-	FDCAN::registered_fdcan[id]->rx_queue.pop();
-
+	data->identifier = header_buffer.Identifier;
 	return true;
 }
 
@@ -174,11 +125,7 @@ bool FDCAN::received_test(uint8_t id){
 		return false;
 	}
 
-	if (FDCAN::registered_fdcan[id]->rx_queue.empty()) {
-		return false;
-	}
-
-	return true;
+	return !((FDCAN::registered_fdcan.at(id)->hfdcan->Instance->RXF0S & FDCAN_RXF0S_F0FL) == 0U);
 }
 
 void FDCAN::init(FDCAN::Instance* fdcan){
@@ -220,4 +167,3 @@ void FDCAN::init(FDCAN::Instance* fdcan){
 
 }
 #endif
-

Src/HALAL/Services/Time/Time.cpp

@@ -201,7 +201,7 @@ uint8_t Time::register_low_precision_alarm(uint32_t period_in_ms, function<void(
 			.period = period_in_ms,
 			.tim = low_precision_timer,
 			.alarm = func,
-			.offset = low_precision_tick % period_in_ms
+			.offset = low_precision_tick
 	};
 
 	NVIC_DisableIRQ(TIM7_IRQn);
@@ -215,7 +215,7 @@ uint8_t Time::register_low_precision_alarm(uint32_t period_in_ms, void(*func)())
 			.period = period_in_ms,
 			.tim = low_precision_timer,
 			.alarm = func,
-			.offset = low_precision_tick % period_in_ms
+			.offset = low_precision_tick
 	};
 
 	NVIC_DisableIRQ(TIM7_IRQn);
@@ -259,6 +259,7 @@ void Time::high_precision_timer_callback(TIM_HandleTypeDef* tim){
 void Time::mid_precision_timer_callback(){
 	for(pair<const uint8_t,Time::Alarm>& pair : Time::mid_precision_alarms_by_id){
 		Time::Alarm& alarm = pair.second;
+		if(alarm.offset == Time::mid_precision_tick) continue;
 		if((Time::mid_precision_tick - alarm.offset) % alarm.period == 0){
 			alarm.alarm();
 		}
@@ -269,6 +270,7 @@ void Time::mid_precision_timer_callback(){
 void Time::low_precision_timer_callback(){
 	for(auto& pair : Time::low_precision_alarms_by_id){
 		Time::Alarm& alarm = pair.second;
+		if(alarm.offset == Time::low_precision_tick) continue;
 		if((Time::low_precision_tick - alarm.offset) % alarm.period == 0){
 			alarm.alarm();
 		}