Simplify code by using a templated function processRxFrame.

107-systems · Jan 10, 2023 · 3cb26d3 · 3cb26d3
1 parent 630bc30
commit 3cb26d3
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Showing 3 changed files with 38 additions and 35 deletions.
diff --git a/src/Node.cpp b/src/Node.cpp
@@ -113,50 +113,18 @@ void Node::processRxQueue()
       const auto [extended_can_id, payload_size, payload, rx_timestamp_us] =
         static_cast<CircularBufferCan *>(_canard_rx_queue.get())->dequeue();
 
-      CanardFrame rx_frame;
-      rx_frame.extended_can_id = extended_can_id;
-      rx_frame.payload_size = payload_size;
-      rx_frame.payload = reinterpret_cast<const void *>(payload.data());
-
-      processRxFrame(&rx_frame, rx_timestamp_us);
+      processRxFrame(extended_can_id, payload_size, payload, rx_timestamp_us);
     }
     else
     {
       const auto [extended_can_id, payload_size, payload, rx_timestamp_us] =
         static_cast<CircularBufferCanFd *>(_canard_rx_queue.get())->dequeue();
 
-      CanardFrame rx_frame;
-      rx_frame.extended_can_id = extended_can_id;
-      rx_frame.payload_size = payload_size;
-      rx_frame.payload = reinterpret_cast<const void *>(payload.data());
-
-      processRxFrame(&rx_frame, rx_timestamp_us);
+      processRxFrame(extended_can_id, payload_size, payload, rx_timestamp_us);
     }
   }
 }
 
-void Node::processRxFrame(CanardFrame const * frame, CanardMicrosecond const rx_timestamp_us)
-{
-  CanardRxTransfer transfer;
-  CanardRxSubscription * rx_subscription;
-  int8_t const result = canardRxAccept(&_canard_hdl,
-                                       rx_timestamp_us,
-                                       frame,
-                                       0, /* redundant_transport_index */
-                                       &transfer,
-                                       &rx_subscription);
-
-  if(result == 1)
-  {
-    /* Obtain the pointer to the subscribed object and in invoke its reception callback. */
-    impl::SubscriptionBase * sub_ptr = static_cast<impl::SubscriptionBase *>(rx_subscription->user_reference);
-    sub_ptr->onTransferReceived(transfer);
-
-    /* Free dynamically allocated memory after processing. */
-    _canard_hdl.memory_free(&_canard_hdl, transfer.payload);
-  }
-}
-
 void Node::processTxQueue(CanFrameTxFunc const tx_func)
 {
   for(CanardTxQueueItem * tx_queue_item = const_cast<CanardTxQueueItem *>(canardTxPeek(&_canard_tx_queue));

diff --git a/src/Node.hpp b/src/Node.hpp
@@ -124,8 +124,12 @@ class Node
   static void   o1heap_free    (CanardInstance * const ins, void * const pointer);
 
   void processRxQueue();
-  void processRxFrame(CanardFrame const * frame, CanardMicrosecond const rx_timestamp_us);
   void processTxQueue(CanFrameTxFunc const tx_func);
+  template<size_t MTU_BYTES>
+  void processRxFrame(uint32_t const extended_can_id,
+                      size_t const payload_size,
+                      std::array<uint8_t, MTU_BYTES> const & payload,
+                      CanardMicrosecond const rx_timestamp_us);
 };
 
 /**************************************************************************************

diff --git a/src/Node.ipp b/src/Node.ipp
@@ -90,3 +90,34 @@ ServiceClient<T_REQ> Node::create_service_client(CanardPortID const port_id,
 
   return clt;
 }
+
+template<size_t MTU_BYTES>
+void Node::processRxFrame(uint32_t const extended_can_id,
+                          size_t const payload_size,
+                          std::array<uint8_t, MTU_BYTES> const & payload,
+                          CanardMicrosecond const rx_timestamp_us)
+{
+  CanardFrame rx_frame;
+  rx_frame.extended_can_id = extended_can_id;
+  rx_frame.payload_size = payload_size;
+  rx_frame.payload = reinterpret_cast<const void *>(payload.data());
+
+  CanardRxTransfer rx_transfer;
+  CanardRxSubscription * rx_subscription;
+  int8_t const result = canardRxAccept(&_canard_hdl,
+                                       rx_timestamp_us,
+                                       &rx_frame,
+                                       0, /* redundant_transport_index */
+                                       &rx_transfer,
+                                       &rx_subscription);
+
+  if(result == 1)
+  {
+    /* Obtain the pointer to the subscribed object and in invoke its reception callback. */
+    impl::SubscriptionBase * sub_ptr = static_cast<impl::SubscriptionBase *>(rx_subscription->user_reference);
+    sub_ptr->onTransferReceived(rx_transfer);
+
+    /* Free dynamically allocated memory after processing. */
+    _canard_hdl.memory_free(&_canard_hdl, rx_transfer.payload);
+  }
+}