✨ Add can_message_finder

conanfile.py

@@ -62,7 +62,7 @@ def build_requirements(self):
         self.test_requires("boost-ext-ut/2.1.0")
 
     def requirements(self):
-        self.requires("libhal/[^4.7.0]", transitive_headers=True)
+        self.requires("libhal/[^4.9.0]", transitive_headers=True)
 
     def layout(self):
         cmake_layout(self)

include/libhal-util/can.hpp

@@ -190,4 +190,106 @@ struct can_bus_divider_t
 
   return timing;
 }
+
+/**
+ * @brief A hal::can_transceiver wrapper class that makes finding message via ID
+ * easier with a find API
+ *
+ * If your driver plans to use this wrapper, rather than storing both the
+ * pointer to the hal::can_transceiver and this object, simply construct this
+ * object with the hal::can_transceiver object's address and use this object's
+ * transceiver() API to get access to the underlying transceiver implementation.
+ * This will ensure that the driver doesn't store the implementation's address
+ * twice.
+ *
+ */
+class can_message_finder
+{
+public:
+  /**
+   * @brief Construct a new can reader object
+   *
+   * @param p_transceiver - the transceiver to read messages from
+   * @param p_id - the message ID to search for
+   */
+  can_message_finder(hal::can_transceiver& p_transceiver, hal::u32 p_id)
+    : m_transceiver(&p_transceiver)
+    , m_id(p_id)
+  {
+  }
+
+  /**
+   * @brief Find a message within the receive buffer matching the input message
+   * ID.
+   *
+   * This API performs a double copy of the can message in order to confirm that
+   * the message did not get modified by the driver during the copy.
+   *
+   * @return std::optional<hal::can_message> - a copy of the can message within
+   * the buffer. The return is set to std::nullopt if the message could not be
+   * found OR was modified during the copy.
+   */
+  [[nodiscard]] std::optional<hal::can_message> find()
+  {
+    auto const buffer = m_transceiver->receive_buffer();
+    auto cursor = m_transceiver->receive_cursor();
+    hal::can_message message = {};
+
+    // Run through the circular buffer until the cursor is reached or until an
+    // ID match is found.
+    while (m_receive_cursor != cursor) {
+      if (m_id == buffer[m_receive_cursor].id) {
+        message = buffer[m_receive_cursor];
+        // Can message buffers are typically updated via interrupt which can
+        // happen at any time. If the cursor has moved past the received message
+        // and changed its bits mid way To ensure that an interrupt has not
+        // occurred and modified the bits of the buffer message, a second copy
+        // is created in order to perform a stability check.
+        hal::can_message const copy = buffer[m_receive_cursor];
+        bool const message_is_stable = copy == message;
+        bool const copy_id_matches = copy.id == m_id;
+        if (message_is_stable and copy_id_matches) {
+          // Perform circular increment of the m_receive_cursor
+          m_receive_cursor = (m_receive_cursor + 1) % buffer.size();
+          return message;
+        }
+      }
+      // Acquire latest cursor
+      cursor = m_transceiver->receive_cursor();
+      // Perform circular increment of the m_receive_cursor
+      m_receive_cursor = (m_receive_cursor + 1) % buffer.size();
+    }
+
+    return std::nullopt;
+  }
+
+  /**
+   * @brief Returns the underlying can hal::can_transceiver allowing
+   *
+   * This API makes it possible for drivers and applications using this wrapper
+   * to fully access the hal::can_transceiver without needing to store the
+   * pointer twice.
+   *
+   * @return hal::can_transceiver& - the underlying hal::can_transceiver
+   */
+  [[nodiscard]] inline hal::can_transceiver& transceiver() const
+  {
+    return *m_transceiver;
+  }
+
+  /**
+   * @brief Returns the ID to being searched for
+   *
+   * @return auto - the ID being searched for
+   */
+  [[nodiscard]] inline auto id() const
+  {
+    return m_id;
+  }
+
+private:
+  hal::can_transceiver* m_transceiver;
+  hal::u32 m_id;
+  std::size_t m_receive_cursor = 0;
+};
 }  // namespace hal

tests/can.test.cpp

@@ -3,6 +3,8 @@
 #include <iostream>
 
 #include <boost/ut.hpp>
+#include <libhal/can.hpp>
+#include <ratio>
 
 namespace hal {
 
@@ -71,6 +73,40 @@ void check_validity(hal::hertz p_operating_frequency,
          static_cast<std::uint32_t>(p_target_baud_rate))
     << "Failure to get the expected baud rate with " << test_subject;
 }
+
+struct test_can_transceiver : hal::can_transceiver
+{
+  test_can_transceiver() = default;
+  hal::u32 driver_baud_rate() override
+  {
+    using namespace hal::literals;
+    return 100_kHz;
+  }
+
+  void driver_send(hal::can_message const& p_message) override
+  {
+    last_sent_message = p_message;
+  }
+
+  std::span<hal::can_message const> driver_receive_buffer() override
+  {
+    return m_buffer;
+  }
+
+  std::size_t driver_receive_cursor() override
+  {
+    return m_cursor % m_buffer.size();
+  };
+
+  void add_to_received_messages(hal::can_message const& p_message)
+  {
+    m_buffer[m_cursor++ % m_buffer.size()] = p_message;
+  }
+
+  hal::can_message last_sent_message{};
+  std::array<hal::can_message, 12> m_buffer{};
+  std::size_t m_cursor = 0;
+};
 }  // namespace
 
 namespace hal {
@@ -159,5 +195,171 @@ boost::ut::suite<"can_test"> can_test = [] {
       expect(that % not fail2.has_value());
       expect(that % not fail4.has_value());
     };
+
+  "hal::can_message_finder"_test = []() {
+    "hal::can_message_finder::find() two messages"_test = []() {
+      // Setup
+      constexpr hal::u32 search_id = 0x115;
+      test_can_transceiver test_transceiver;
+      hal::can_message_finder reader(test_transceiver, search_id);
+      hal::can_message findable_message0{
+        .id = search_id,
+        .extended = false,
+        .remote_request = false,
+        .length = 3,
+        .payload = { 0xAB, 0xCD, 0xEF },
+      };
+
+      hal::can_message findable_message1 = {
+        .id = search_id,
+        .extended = false,
+        .remote_request = false,
+        .length = 2,
+        .payload = { 0xDE, 0xAD },
+      };
+
+      hal::can_message skipped_message = {
+        .id = search_id + 5,
+        .extended = false,
+        .remote_request = false,
+        .length = 1,
+        .payload = { 0xCC },
+      };
+
+      // Ensure
+      auto const ensure_message = reader.find();
+      expect(not ensure_message.has_value());
+
+      // Exercise
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(findable_message0);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(findable_message1);
+      test_transceiver.add_to_received_messages(findable_message1);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(findable_message0);
+      test_transceiver.add_to_received_messages(skipped_message);
+      auto const found_message0 = reader.find();
+      auto const found_message1 = reader.find();
+      auto const found_message2 = reader.find();
+      auto const found_message3 = reader.find();
+      auto const no_message_found0 = reader.find();
+      auto const no_message_found1 = reader.find();
+
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(findable_message1);
+      test_transceiver.add_to_received_messages(skipped_message);
+
+      auto const found_message4 = reader.find();
+
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+      test_transceiver.add_to_received_messages(skipped_message);
+
+      auto const no_message_found2 = reader.find();
+
+      // Verify
+      expect(found_message0.has_value());
+      expect(found_message0.value() == findable_message0);
+      expect(found_message1.has_value());
+      expect(found_message1.value() == findable_message1);
+      expect(found_message2.has_value());
+      expect(found_message2.value() == findable_message1);
+      expect(found_message3.has_value());
+      expect(found_message3.value() == findable_message0);
+      expect(found_message4.has_value());
+      expect(found_message4.value() == findable_message1);
+      expect(not no_message_found0.has_value());
+      expect(not no_message_found1.has_value());
+      expect(not no_message_found2.has_value());
+    };
+
+    "hal::can_message_finder::find() overflow cursor"_test = []() {
+      // Setup
+      constexpr hal::u32 expected_id = 0x115;
+      test_can_transceiver test_transceiver;
+      hal::can_message_finder reader(test_transceiver, expected_id);
+      hal::can_message desired_message{
+        .id = expected_id,
+        .extended = false,
+        .remote_request = false,
+        .length = 3,
+        .payload = { 0xAB, 0xCD, 0xEF },
+      };
+
+      hal::can_message undesired_message = desired_message;
+      undesired_message.id = expected_id + 1;
+      // Setup: With 8 messages to fill the buffer, the cursor will land back at
+      // 0. Meaning that a find will come up with nothing. This is to be
+      // expected with a circular buffer if the receive cursor gets lapped.
+
+      // Ensure
+      auto const ensure_message0 = reader.find();
+      expect(not ensure_message0.has_value());
+      auto const ensure_message1 = reader.find();
+      expect(not ensure_message1.has_value());
+
+      // Exercise
+      test_transceiver.add_to_received_messages(desired_message);
+      for (std::size_t i = 0; i < test_transceiver.m_buffer.size(); i++) {
+        test_transceiver.add_to_received_messages(undesired_message);
+      }
+
+      auto const found_message0 = reader.find();
+
+      // Verify
+      expect(not found_message0.has_value());
+    };
+
+    "hal::can_message_finder::find() std::nullopt from stability failure"_test =
+      []() {
+        // This is empty because we haven't come up with a practical cross
+        // platform way to verify this check.
+      };
+
+    "hal::can_message_finder::transceiver() should work"_test = []() {
+      // Setup
+      test_can_transceiver test_transceiver;
+      hal::can_message_finder reader(test_transceiver, 0x111);
+      constexpr hal::can_message expected_message{
+        .id = 0x111,
+        .extended = false,
+        .remote_request = false,
+        .length = 3,
+        .payload = { 0xAB, 0xCD, 0xEF },
+      };
+      // Setup: With 8 messages to fill the buffer, the cursor will land back at
+      // 0. Meaning that a find will come up with nothing. This is to be
+      // expected with a circular buffer if the receive cursor gets lapped.
+
+      // Exercise
+      reader.transceiver().send(expected_message);
+
+      // Verify
+      expect(expected_message == test_transceiver.last_sent_message);
+    };
+
+    "hal::can_message_finder::id()"_test = []() {
+      // Setup
+      constexpr auto desired_id = 0x087;
+      test_can_transceiver test_transceiver;
+      hal::can_message_finder reader(test_transceiver, desired_id);
+
+      // Exercise
+      auto const actual_id = reader.id();
+
+      // Verify
+      expect(desired_id == actual_id);
+    };
+  };
 };
 }  // namespace hal