refactor active protocol finder

RaccoonlabDev · Sep 27, 2024 · 57c3890 · 57c3890
1 parent fece5c1
commit 57c3890
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Showing 3 changed files with 33 additions and 29 deletions.
diff --git a/Src/common/application.cpp b/Src/common/application.cpp
@@ -78,28 +78,9 @@ static void blink_board_led() {
     Board::Led::blink(colors.first, colors.second);
 }
 
-Module::Protocol get_protocol() {
-#if defined(CONFIG_USE_CYPHAL) && !defined(CONFIG_USE_DRONECAN)
-    return Module::Protocol::CYPHAL;
-#elif !defined(CONFIG_USE_CYPHAL) && defined(CONFIG_USE_DRONECAN)
-    return Module::Protocol::DRONECAN;
-#else
-    auto system_protocol = paramsGetIntegerValue(PARAM_SYSTEM_PROTOCOL);
-
-    Module::Protocol protocol;
-    if (system_protocol == static_cast<int32_t>(Module::Protocol::CYPHAL)) {
-        protocol = Module::Protocol::CYPHAL;
-    } else {
-        protocol = Module::Protocol::DRONECAN;
-    }
-
-    return protocol;
-#endif
-}
-
 __attribute__((noreturn)) void application_entry_point() {
     init_board_periphery();
-    ModuleManager::init(get_protocol());
+    ModuleManager::init();
 
     while (true) {
         ModuleManager::process();

diff --git a/Src/common/module.cpp b/Src/common/module.cpp
@@ -5,6 +5,7 @@
  */
 
 #include "module.hpp"
+#include "params.hpp"
 #include <span>
 
 Module::Module(float frequency, Protocol proto) : protocol(proto),
@@ -51,28 +52,49 @@ void ModuleManager::register_module(Module* app_module) {
     }
 }
 
-void ModuleManager::init(Module::Protocol proto) {
-    protocol = proto;
+void ModuleManager::init() {
+    active_protocol = get_active_protocol();
     for (auto app_module : active_modules) {
-        if (app_module->get_protocol() == protocol) {
+        auto protocol = app_module->get_protocol();
+        if (protocol == Module::Protocol::CYPHAL_AND_DRONECAN || protocol == active_protocol) {
             app_module->init();
         }
     }
 }
 
 void ModuleManager::process() {
     for (auto app_module : active_modules) {
-        if (app_module->get_protocol() == protocol) {
+        auto protocol = app_module->get_protocol();
+        if (protocol == Module::Protocol::CYPHAL_AND_DRONECAN || protocol == active_protocol) {
             app_module->process();
         }
     }
 }
 
+Module::Protocol ModuleManager::get_active_protocol() {
+#if defined(CONFIG_USE_CYPHAL) && !defined(CONFIG_USE_DRONECAN)
+    return Module::Protocol::CYPHAL;
+#elif !defined(CONFIG_USE_CYPHAL) && defined(CONFIG_USE_DRONECAN)
+    return Module::Protocol::DRONECAN;
+#else
+    auto system_protocol = paramsGetIntegerValue(PARAM_SYSTEM_PROTOCOL);
+
+    Module::Protocol protocol;
+    if (system_protocol == static_cast<int32_t>(Module::Protocol::CYPHAL)) {
+        protocol = Module::Protocol::CYPHAL;
+    } else {
+        protocol = Module::Protocol::DRONECAN;
+    }
+
+    return protocol;
+#endif
+}
+
 Module::Status ModuleManager::get_global_status() {
     auto global_status = Module::Status::OK;
 
     for (auto app_module : active_modules) {
-        if (app_module->get_protocol() == protocol && app_module->get_health() > global_status) {
+        if (app_module->get_protocol() == active_protocol && app_module->get_health() > global_status) {
             global_status = app_module->get_health();
         }
     }
@@ -84,7 +106,7 @@ Module::Mode ModuleManager::get_global_mode() {
     auto global_mode = Module::Mode::STANDBY;
 
     for (auto app_module : active_modules) {
-        if (app_module->get_protocol() == protocol && app_module->get_mode() > global_mode) {
+        if (app_module->get_protocol() == active_protocol && app_module->get_mode() > global_mode) {
             global_mode = app_module->get_mode();
         }
     }
@@ -97,7 +119,7 @@ uint8_t ModuleManager::get_vssc() {
 
     uint8_t module_idx = 0;
     for (auto app_module : active_modules) {
-        if (app_module->get_protocol() != protocol) {
+        if (app_module->get_protocol() != active_protocol) {
             continue;
         }
 

diff --git a/Src/common/module.hpp b/Src/common/module.hpp
@@ -92,9 +92,10 @@ class Module {
 class ModuleManager {
 public:
     static void register_module(Module* app_module);
-    static void init(Module::Protocol proto);
+    static void init();
     static void process();
 
+    static Module::Protocol get_active_protocol();
     static Module::Status get_global_status();
     static Module::Mode get_global_mode();
     static uint8_t get_vssc();
@@ -104,7 +105,7 @@ class ModuleManager {
     static inline std::array<Module*, MAX_MODULES_AMOUNT> modules;
     static inline std::span<Module*> active_modules;
     static inline uint8_t modules_amount{0};
-    static inline Module::Protocol protocol;
+    static inline Module::Protocol active_protocol;
 };
 
 /**