VCF/lib/interfaces/src/VCFCANInterfaceImpl.cpp at 187dfe03edf289ced15ba3d52513e067f9a0bee3 · hytech-racing/VCF · GitHub

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#include "VCFCANInterfaceImpl.h"
#include "BuzzerController.h"

namespace VCFCANInterfaceImpl {
    void on_main_can_recv(const CAN_message_t &msg)
    {
        uint8_t buf[sizeof(CAN_message_t)];
        memmove(buf, &msg, sizeof(msg)); // NOLINT (memory operations are fine)
        VCFCANInterfaceInstance::instance().telem_can_rx_buffer.push_back(buf, sizeof(CAN_message_t));
    }

    void on_faux_can_recv(const CAN_message_t &msg)
    {
        // VCFCANInterfaceInstance::instance().TELEM_CAN.write(msg); //immediately forward onto telem can to view data
        uint8_t buf[sizeof(CAN_message_t)];
        memmove(buf, &msg, sizeof(msg)); // NOLINT (memory operations are fine)
        VCFCANInterfaceInstance::instance().front_aux_can_rx_buffer.push_back(buf, sizeof(CAN_message_t));
    }

    void vcf_recv_switch(CANInterfaces &interfaces, const CAN_message_t &msg, unsigned long millis, CANInterfaceType_e interface_type)
    {
        switch (msg.id)
        {
            case DASHBOARD_BUZZER_CONTROL_CANID:
            {
                interfaces.vcr_interface.receive_dash_control_data(msg);
                break;
            }
            case BMS_VOLTAGES_CANID:
            {
                interfaces.acu_interface.receive_ACU_voltages(msg);
                break;
            }
            case ACU_OK_CANID:
            {
                interfaces.dash_interface.receive_ACU_OK(msg);
                break;
            }
            case CAR_STATES_CANID:
            {
                interfaces.vcr_interface.receive_car_states_data(msg);
                break;
            }
            case INV1_STATUS_CANID:
            {
                interfaces.vcr_interface.receive_inverter_status_1(msg);
                break;
            }
            case INV2_STATUS_CANID:
            {
                interfaces.vcr_interface.receive_inverter_status_2(msg);
                break;
            }
            case INV3_STATUS_CANID:
            {
                interfaces.vcr_interface.receive_inverter_status_3(msg);
                break;
            }
            case INV4_STATUS_CANID:
            {
                interfaces.vcr_interface.receive_inverter_status_4(msg);
                break;
            }
            case FL_BRAKE_ROTOR_SENSOR_TEMP_CANID:
            case FL_BRAKE_ROTOR_TEMP_CH1_CH4_CANID:
            case FL_BRAKE_ROTOR_TEMP_CH5_CH8_CANID:
            case FL_BRAKE_ROTOR_TEMP_CH9_CH12_CANID:
            case FL_BRAKE_ROTOR_TEMP_CH13_CH16_CANID:
            case FR_BRAKE_ROTOR_SENSOR_TEMP_CANID:
            case FR_BRAKE_ROTOR_TEMP_CH1_CH4_CANID:
            case FR_BRAKE_ROTOR_TEMP_CH5_CH8_CANID:
            case FR_BRAKE_ROTOR_TEMP_CH9_CH12_CANID:
            case FR_BRAKE_ROTOR_TEMP_CH13_CH16_CANID:
                interfaces.brake_rotor_temp_interface.receiveBrakeRotorTempData(msg);
                break;
            default:
                break;
            }

    }

    void send_all_CAN_msgs(CANTXBufferType &buffer, FlexCAN_T4_Base *can_interface)
    {
        CAN_message_t msg;
        while (buffer.available()) {
            CAN_message_t msg;
            uint8_t buf[sizeof(CAN_message_t)];
            buffer.pop_front(buf, sizeof(CAN_message_t));
            memmove(&msg, buf, sizeof(msg)); // NOLINT (memory operations are fine)
            can_interface->write(msg);
        }
    }

}