WIP: make can message private

macformula · Apr 10, 2024 · 941f4ae · 941f4ae
1 parent b12a3ed
commit 941f4ae
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Showing 3 changed files with 19 additions and 5 deletions.
diff --git a/firmware/projects/DemoCan/generated/can_messages.h b/firmware/projects/DemoCan/generated/can_messages.h
@@ -47,7 +47,7 @@ class DebugLedOverride : public shared::comms::can::CanRxMsg {
     static constexpr bool kIsExtFrame = true;
 
 public:
-    void Clone(shared::comms::can::CanRxMsg& rx_msg) {
+    void Clone(shared::comms::can::CanRxMsg& rx_msg) const {
         DebugLedOverride* p_rx_msg = static_cast<DebugLedOverride*>(&rx_msg);
 
         p_rx_msg->set_green_led = set_green_led;
@@ -61,7 +61,7 @@ class DebugLedOverride : public shared::comms::can::CanRxMsg {
         }
     }
 
-    shared::comms::can::CanId Id() {
+    shared::comms::can::CanId Id() const {
         return kCanId;
     }
 

diff --git a/firmware/shared/comms/can/can_msg.h b/firmware/shared/comms/can/can_msg.h
@@ -12,10 +12,10 @@ class DemoCanVehMsgRegistry;
 class CanMsg {};
 
 class CanRxMsg : public CanMsg {
-public:
-    virtual void Clone(CanRxMsg&) = 0;
+private:
+    virtual const void Clone(CanRxMsg&) const = 0;
     virtual void Unpack(const RawCanMsg&) = 0;
-    virtual CanId Id() = 0;
+    virtual CanId Id() const = 0;
 };
 
 class CanTxMsg : public CanMsg {

diff --git a/firmware/shared/comms/can/msg_registry.h b/firmware/shared/comms/can/msg_registry.h
@@ -11,6 +11,20 @@ class MsgRegistry {
 public:
     virtual bool SetMessage(const RawCanMsg&) = 0;
     virtual bool GetMessage(CanRxMsg&) = 0;
+protected:
+    static inline void Unpack(CanRxMsg* rx_msg, const RawCanMsg& raw_msg) {
+        rx_msg.Unpack(raw_msg);
+    }
+
+    static inline void Clone(const CanRxMsg* const dst_rx_msg, CanRxMsg& dst_rx_msg) {
+        rx_msg.Clone(raw_msg);
+    }
+
+    static inline CanId MsgId(const CanRxMsg* const rx_msg){
+        return rx_msg.Clone(raw_msg);
+    }
+
+
 };
 
 }  // namespace shared::comms::can