🔥 Remove can_router from util

can_router is misplaced in this library. Utilities, at their core, are
optional constructs. They provide helper functions for developers.
can_router is an interface requirement for drivers which does not fit
the design of util. Thus it will be decoupled from libhal-util and
brought into libhal-canrouter.

Add unit tests for can message comparison

.github/workflows/ci.yml

@@ -3,9 +3,9 @@ name: ✅ Checks
 on:
   workflow_dispatch:
   pull_request:
+  release:
+    types: [published]
   push:
-    tags:
-      - "*"
     branches:
       - main
   schedule:
@@ -19,14 +19,3 @@ jobs:
   devices:
     uses: libhal/ci/.github/workflows/[email protected]
     secrets: inherit
-
-  release:
-    needs: [ci, devices]
-    if: startsWith(github.ref, 'refs/tags/')
-    runs-on: ubuntu-22.04
-    steps:
-      - name: Release
-        uses: softprops/action-gh-release@v1
-        if: startsWith(github.ref, 'refs/tags/')
-        with:
-          generate_release_notes: true

conanfile.py

@@ -26,7 +26,7 @@
 
 class libhal_util_conan(ConanFile):
     name = "libhal-util"
-    version = "2.0.0"
+    version = "3.0.0"
     license = "Apache-2.0"
     url = "https://github.com/conan-io/conan-center-index"
     homepage = "https://github.com/libhal/libhal-util"

include/libhal-util/can.hpp

@@ -15,15 +15,11 @@
 #pragma once
 
 #include <cmath>
-#include <functional>
-#include <optional>
 
 #include <libhal/can.hpp>
 
 #include "comparison.hpp"
 #include "math.hpp"
-#include "static_callable.hpp"
-#include "static_list.hpp"
 
 namespace hal {
 [[nodiscard]] constexpr auto operator==(const can::settings& p_lhs,
@@ -119,150 +115,4 @@ namespace hal {
          p_lhs.length == p_rhs.length &&
          p_lhs.is_remote_request == p_rhs.is_remote_request;
 }
-
-/**
- * @brief Route CAN messages received on the can bus to callbacks based on ID.
- *
- */
-class can_router
-{
-public:
-  static constexpr auto noop =
-    []([[maybe_unused]] const can::message_t& p_message) {};
-
-  using message_handler = hal::callback<hal::can::handler>;
-
-  struct route
-  {
-    hal::can::id_t id = 0;
-    message_handler handler = noop;
-  };
-
-  using route_item = static_list<route>::item;
-
-  static result<can_router> create(hal::can& p_can)
-  {
-    can_router new_can_router(p_can);
-    return new_can_router;
-  }
-
-  /**
-   * @brief Construct a new can message router
-   *
-   * @param p_can - can peripheral to route messages for
-   */
-  explicit can_router(hal::can& p_can)
-    : m_can(&p_can)
-  {
-    (void)m_can->on_receive(std::ref((*this)));
-  }
-
-  can_router() = delete;
-  can_router(can_router& p_other) = delete;
-  can_router& operator=(can_router& p_other) = delete;
-  can_router& operator=(can_router&& p_other)
-  {
-    m_handlers = std::move(p_other.m_handlers);
-    m_can = std::move(p_other.m_can);
-    (void)m_can->on_receive(std::ref(*this));
-
-    p_other.m_can = nullptr;
-    return *this;
-  }
-
-  can_router(can_router&& p_other)
-  {
-    *this = std::move(p_other);
-  }
-
-  ~can_router()
-  {
-    if (m_can) {
-      // Assume that if this succeeded in the create factory function, that it
-      // will work this time
-      (void)m_can->on_receive(noop);
-    }
-  }
-
-  /**
-   * @brief Get a reference to the can peripheral driver
-   *
-   * Used to send can messages through the same port that the can_router is
-   * using.
-   *
-   * @return can& reference to the can peripheral driver
-   */
-  [[nodiscard]] hal::can& bus()
-  {
-    return *m_can;
-  }
-
-  /**
-   * @brief Add a message route without setting the callback
-   *
-   * The default callback will do nothing and will drop the message.
-   *
-   * @param p_id - Associated ID of messages to be stored.
-   * @return auto - route item from the linked list that must be stored stored
-   * in a variable
-   */
-  [[nodiscard]] auto add_message_callback(hal::can::id_t p_id)
-  {
-    return m_handlers.push_back(route{
-      .id = p_id,
-    });
-  }
-
-  /**
-   * @brief Set a callback for when messages with a specific ID is received
-   *
-   * @param p_id - Associated ID of messages to be stored.
-   * @param p_handler - callback to be executed when a p_id message is received.
-   * @return auto - route item from the linked list that must be stored stored
-   * in a variable
-   */
-  [[nodiscard]] auto add_message_callback(hal::can::id_t p_id,
-                                          message_handler p_handler)
-  {
-    return m_handlers.push_back(route{
-      .id = p_id,
-      .handler = p_handler,
-    });
-  }
-
-  /**
-   * @brief Get the list of handlers
-   *
-   * Meant for testing purposes or when direct inspection of the map is useful
-   * in userspace. Should not be used in by libraries.
-   *
-   * @return const auto& map of all of the can message handlers.
-   */
-  [[nodiscard]] const auto& handlers()
-  {
-    return m_handlers;
-  }
-
-  /**
-   * @brief Message routing interrupt service handler
-   *
-   * Searches the static list and finds the first ID associated with the message
-   * and run's that route's callback.
-   *
-   * @param p_message - message received from the bus
-   */
-  void operator()(const can::message_t& p_message)
-  {
-    for (auto& list_handler : m_handlers) {
-      if (p_message.id == list_handler.id) {
-        list_handler.handler(p_message);
-        return;
-      }
-    }
-  }
-
-private:
-  static_list<route> m_handlers{};
-  hal::can* m_can = nullptr;
-};
 }  // namespace hal

tests/CMakeLists.txt

@@ -43,9 +43,15 @@ find_package(ut REQUIRED CONFIG)
 find_package(libhal REQUIRED CONFIG)
 
 add_executable(${PROJECT_NAME}
+
+  # Source
+  ../src/steady_clock.cpp
+  ../src/streams.cpp
+
+  # Tests
   as_bytes.test.cpp
-  bit.test.cpp
   can.test.cpp
+  bit.test.cpp
   enum.test.cpp
   i2c.test.cpp
   input_pin.test.cpp
@@ -86,5 +92,4 @@ target_link_options(${PROJECT_NAME} PRIVATE
   ${ASAN_FLAG})
 target_link_libraries(${PROJECT_NAME} PRIVATE
   boost-ext-ut::ut
-  libhal::libhal
-  libhal-util)
+  libhal::libhal)