refactor(core): add CANDataSpan for span of CAN data

Open-Agriculture · Nov 21, 2023 · ce892de · ce892de
1 parent f7166f4
commit ce892de
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Showing 5 changed files with 22 additions and 22 deletions.
diff --git a/isobus/include/isobus/isobus/can_message.hpp b/isobus/include/isobus/isobus/can_message.hpp
@@ -13,11 +13,15 @@
 
 #include "isobus/isobus/can_control_function.hpp"
 #include "isobus/isobus/can_identifier.hpp"
+#include "isobus/utility/data_span.hpp"
 
 #include <vector>
 
 namespace isobus
 {
+	/// @brief A read-only span of data provided by a CAN message
+	using CANDataSpan = DataSpan<const std::uint8_t>;
+
 	//================================================================================================
 	/// @class CANMessage
 	///

diff --git a/isobus/include/isobus/isobus/can_network_manager.hpp b/isobus/include/isobus/isobus/can_network_manager.hpp
@@ -20,7 +20,6 @@
 #include "isobus/isobus/can_identifier.hpp"
 #include "isobus/isobus/can_internal_control_function.hpp"
 #include "isobus/isobus/can_message.hpp"
-#include "isobus/isobus/can_message_data.hpp"
 #include "isobus/isobus/can_message_frame.hpp"
 #include "isobus/isobus/can_network_configuration.hpp"
 #include "isobus/isobus/can_transport_protocol.hpp"
@@ -103,7 +102,6 @@ namespace isobus
 		float get_estimated_busload(std::uint8_t canChannel);
 
 		/// @brief Sends a CAN message with the specified parameter group number and data buffer to the specified destination control function.
-		/// @deprecated Use the `send_can_message` function with a DataSpan instead.
 		/// @details This function will automatically choose an appropriate transport protocol if needed.
 		/// If you don't specify a destination (or use nullptr) you message will be sent as a broadcast
 		/// @param parameterGroupNumber The parameter group number of the CAN message.
@@ -158,7 +156,7 @@ namespace isobus
 		/// @param parentPointer A pointer to the parent object that gets passed to the txCompleteCallback.
 		/// @return True if the message is successfully enqueued, false otherwise.
 		bool send_can_message(std::uint32_t parameterGroupNumber,
-		                      DataSpan<const std::uint8_t> data,
+		                      CANDataSpan data,
 		                      std::shared_ptr<InternalControlFunction> sourceControlFunction,
 		                      std::shared_ptr<ControlFunction> destinationControlFunction,
 		                      CANIdentifier::CANPriority priority = CANIdentifier::CANPriority::PriorityDefault6,
@@ -185,7 +183,6 @@ namespace isobus
 		                      void *parentPointer = nullptr);
 
 		/// @brief Broadcast a CAN message with the specified parameter group number and data buffer. (Destination Address=0xFF)
-		/// @deprecated Use the `send_can_message_global` function with a DataSpan instead.
 		/// @details This function will automatically choose an appropriate transport protocol if needed.
 		/// @param parameterGroupNumber The parameter group number of the CAN message.
 		/// @param dataBuffer The data buffer containing the data to be sent.
@@ -231,7 +228,7 @@ namespace isobus
 		/// @param parentPointer A pointer to the parent object that gets passed to the txCompleteCallback.
 		/// @return True if the message is successfully enqueued, false otherwise.
 		bool send_can_message_global(std::uint32_t parameterGroupNumber,
-		                             DataSpan<const std::uint8_t> data,
+		                             CANDataSpan data,
 		                             std::shared_ptr<InternalControlFunction> sourceControlFunction,
 		                             CANIdentifier::CANPriority priority = CANIdentifier::CANPriority::PriorityDefault6,
 		                             TransmitCompleteCallback txCompleteCallback = nullptr,
@@ -355,7 +352,7 @@ namespace isobus
 		                          std::uint8_t destAddress,
 		                          std::uint32_t parameterGroupNumber,
 		                          std::uint8_t priority,
-		                          DataSpan<const std::uint8_t> data,
+		                          CANDataSpan data,
 		                          CANLibBadge<AddressClaimStateMachine>) const;
 
 		/// @brief Processes completed protocol messages. Causes PGN callbacks to trigger.
@@ -404,7 +401,7 @@ namespace isobus
 		                                std::uint8_t destAddress,
 		                                std::uint32_t parameterGroupNumber,
 		                                std::uint8_t priority,
-		                                DataSpan<const std::uint8_t> data) const;
+		                                CANDataSpan data) const;
 
 		/// @brief Returns a control function based on a CAN address and channel index
 		/// @param[in] channelIndex The CAN channel index of the CAN message being processed
@@ -478,7 +475,7 @@ namespace isobus
 		                          std::uint8_t destAddress,
 		                          std::uint32_t parameterGroupNumber,
 		                          std::uint8_t priority,
-		                          DataSpan<const std::uint8_t> data) const;
+		                          CANDataSpan data) const;
 
 		/// @brief Gets a PGN callback for the global address by index
 		/// @param[in] index The index of the callback to get

diff --git a/isobus/src/can_address_claim_state_machine.cpp b/isobus/src/can_address_claim_state_machine.cpp
@@ -8,7 +8,6 @@
 //================================================================================================
 #include "isobus/isobus/can_address_claim_state_machine.hpp"
 #include "isobus/isobus/can_general_parameter_group_numbers.hpp"
-#include "isobus/isobus/can_message_data.hpp"
 #include "isobus/isobus/can_network_manager.hpp"
 #include "isobus/isobus/can_stack_logger.hpp"
 #include "isobus/utility/system_timing.hpp"

diff --git a/isobus/src/can_network_manager.cpp b/isobus/src/can_network_manager.cpp
@@ -122,7 +122,7 @@ namespace isobus
 	                                         void *parentPointer)
 	{
 		return send_can_message(parameterGroupNumber,
-		                        DataSpan<const std::uint8_t>(dataBuffer, dataLength),
+		                        CANDataSpan(dataBuffer, dataLength),
 		                        sourceControlFunction,
 		                        destinationControlFunction,
 		                        priority,
@@ -219,7 +219,7 @@ namespace isobus
 	}
 
 	bool CANNetworkManager::send_can_message(std::uint32_t parameterGroupNumber,
-	                                         DataSpan<const std::uint8_t> data,
+	                                         CANDataSpan data,
 	                                         std::shared_ptr<InternalControlFunction> sourceControlFunction,
 	                                         std::shared_ptr<ControlFunction> destinationControlFunction,
 	                                         CANIdentifier::CANPriority priority,
@@ -310,7 +310,7 @@ namespace isobus
 	                                                 void *parentPointer)
 	{
 		return send_can_message(parameterGroupNumber,
-		                        DataSpan<const std::uint8_t>(data.begin(), data.size()),
+		                        CANDataSpan(data.begin(), data.size()),
 		                        sourceControlFunction,
 		                        destinationControlFunction,
 		                        priority,
@@ -354,7 +354,7 @@ namespace isobus
 		                        parentPointer);
 	}
 
-	bool isobus::CANNetworkManager::send_can_message_global(std::uint32_t parameterGroupNumber, DataSpan<const std::uint8_t> data, std::shared_ptr<InternalControlFunction> sourceControlFunction, CANIdentifier::CANPriority priority, TransmitCompleteCallback txCompleteCallback, void *parentPointer)
+	bool isobus::CANNetworkManager::send_can_message_global(std::uint32_t parameterGroupNumber, CANDataSpan data, std::shared_ptr<InternalControlFunction> sourceControlFunction, CANIdentifier::CANPriority priority, TransmitCompleteCallback txCompleteCallback, void *parentPointer)
 	{
 		return send_can_message(parameterGroupNumber,
 		                        data,
@@ -368,7 +368,7 @@ namespace isobus
 	bool isobus::CANNetworkManager::send_can_message_global(std::uint32_t parameterGroupNumber, std::initializer_list<std::uint8_t> data, std::shared_ptr<InternalControlFunction> sourceControlFunction, CANIdentifier::CANPriority priority, TransmitCompleteCallback txCompleteCallback, void *parentPointer)
 	{
 		return send_can_message(parameterGroupNumber,
-		                        DataSpan<const std::uint8_t>(data.begin(), data.size()),
+		                        CANDataSpan(data.begin(), data.size()),
 		                        sourceControlFunction,
 		                        nullptr, // To denote a global message we pass a null destination
 		                        priority,
@@ -429,7 +429,7 @@ namespace isobus
 	                                             std::uint8_t destAddress,
 	                                             std::uint32_t parameterGroupNumber,
 	                                             std::uint8_t priority,
-	                                             DataSpan<const std::uint8_t> data,
+	                                             CANDataSpan data,
 	                                             CANLibBadge<AddressClaimStateMachine>) const
 	{
 		return send_can_message_raw(portIndex, sourceAddress, destAddress, parameterGroupNumber, priority, data);
@@ -931,7 +931,7 @@ namespace isobus
 	                                                   std::uint8_t destAddress,
 	                                                   std::uint32_t parameterGroupNumber,
 	                                                   std::uint8_t priority,
-	                                                   DataSpan<const std::uint8_t> data) const
+	                                                   CANDataSpan data) const
 	{
 		CANMessageFrame txFrame;
 		txFrame.identifier = DEFAULT_IDENTIFIER;
@@ -1207,7 +1207,7 @@ namespace isobus
 	                                             std::uint8_t destAddress,
 	                                             std::uint32_t parameterGroupNumber,
 	                                             std::uint8_t priority,
-	                                             DataSpan<const std::uint8_t> data) const
+	                                             CANDataSpan data) const
 	{
 		CANMessageFrame tempFrame = construct_frame(portIndex, sourceAddress, destAddress, parameterGroupNumber, priority, data);
 		bool retVal = false;

diff --git a/...nclude/isobus/isobus/can_message_data.hpp → utility/include/isobus/utility/data_span.hpp b/...nclude/isobus/isobus/can_message_data.hpp → utility/include/isobus/utility/data_span.hpp
@@ -1,13 +1,13 @@
 //================================================================================================
 /// @file can_message_data.hpp
 ///
-/// @brief Contains common types and functions for working with the data of a CAN message.
+/// @brief Contains common types and functions for working with an arbitrary amount of items.
 /// @author Daan Steenbergen
 ///
-/// @copyright 2022 Open Agriculture
+/// @copyright 2023 Open Agriculture
 //================================================================================================
-#ifndef CAN_MESSAGE_DATA_HPP
-#define CAN_MESSAGE_DATA_HPP
+#ifndef DATA_SPAN_HPP
+#define DATA_SPAN_HPP
 
 #include <array>
 #include <cstddef>
@@ -101,4 +101,4 @@ namespace isobus
 		}
 	};
 }
-#endif // CAN_MESSAGE_DATA_HPP
+#endif // DATA_SPAN_HPP