created CANModule and fixed txProcessor function

libs/can/include/CANInterface.h

@@ -36,7 +36,7 @@ class CANInterface {
   bool getRXSignalValue(HWBRIDGE::CANID msgID, HWBRIDGE::CANSIGNAL signalName, HWBRIDGE::CANSignalValue_t &signalValue);
 
   // Switch CAN bus
-  bool switchCANBus(HWBRIDGE::CANBUSID canBusID);
+  bool switchCANBus(HWBRIDGE::CANBUSID canBusID); // TODO: Unnecessary
 
   // Set CAN bus hw filter
   bool setFilter(HWBRIDGE::CANFILTER filter, CANFormat format = CANStandard,

libs/can/include/CANModule.h

@@ -0,0 +1,18 @@
+#pragma onceusing 
+
+#include "Module.h"
+#include "mbed.h"
+#include "CANInterface.h"
+
+class CANModule final : public Module {
+    public:
+
+    CANModule();
+
+    void periodic_1ms(void) override {}
+    void periodic_10ms(void) override {}
+
+
+    private:
+    CANInterface 
+}

libs/can/src/CANInterface.cpp

@@ -59,8 +59,8 @@ void CANInterface::rxClient(void) {
     // Wait for a message to arrive
     do {
       mail = m_rxMailbox.try_get();  // using try_get() because try_get_for() was crashing
-      ThisThread::sleep_for(1ms);
-    } while (mail == nullptr);
+      ThisThread::sleep_for(1ms); // TODO: Check for object in mailbox every ms
+    } while (mail == nullptr); 
 
     MBED_ASSERT(mail != nullptr);
 
@@ -112,51 +112,47 @@ void CANInterface::rxClient(void) {
 }
 
 void CANInterface::txProcessor(void) {
-  while (true) {
-    auto startTime = Kernel::Clock::now();
+  auto startTime = Kernel::Clock::now();
 
-    CANMsg *mail = nullptr;
+  CANMsg *mail = nullptr;
 
-    // Send all one-shot messages that were queued
-    while ((mail = m_txMailboxOneShot.try_get()) != nullptr) {
-      if (!m_activeCANBus->write(*mail)) {
-        MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_WRITE_FAILED), "CAN TX write failed");
-        m_numCANTXFaults++;
-      }
-      MBED_ASSERT(m_txMailboxOneShot.free(mail) == osOK);
-      ThisThread::sleep_for(TX_INTERDELAY);
+  // Send all one-shot messages that were queued
+  while ((mail = m_txMailboxOneShot.try_get()) != nullptr) {
+    if (!m_activeCANBus->write(*mail)) {
+      MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_WRITE_FAILED), "CAN TX write failed");
+      m_numCANTXFaults++;
     }
+    MBED_ASSERT(m_txMailboxOneShot.free(mail) == osOK);
+    ThisThread::sleep_for(TX_INTERDELAY);
+  }
 
-    // Send all streamed messages
-    if (m_txMsgMap != nullptr) {
-      for (auto it = m_txMsgMap->begin(); it != m_txMsgMap->end(); it++) {
-        HWBRIDGE::CANID msgID          = it->first;
-        HWBRIDGE::CANMsgData_t msgData = {0};
-        size_t len                     = 0;
-
-        m_txMutex.lock();
-        bool msgPacked = HWBRIDGE::packCANMsg(msgData.raw, msgID, m_txMsgMap, len);
-        m_txMutex.unlock();
-
-        if (msgPacked) {
-          // Send message
-          CANMsg msg;
-          msg.setID(msgID);
-          msg.setPayload(msgData, len);
-          m_activeCANBus->write(msg);
-
-          m_numStreamedMsgsSent++;
-
-          ThisThread::sleep_for(TX_INTERDELAY);
-        } else {
-          MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
-                       "CAN TX message packing failed");
-          m_numCANTXFaults++;
-        }
+  // Send all streamed messages
+  if (m_txMsgMap != nullptr) {
+    for (auto it = m_txMsgMap->begin(); it != m_txMsgMap->end(); it++) {
+      HWBRIDGE::CANID msgID          = it->first;
+      HWBRIDGE::CANMsgData_t msgData = {0};
+      size_t len                     = 0;
+
+      m_txMutex.lock();
+      bool msgPacked = HWBRIDGE::packCANMsg(msgData.raw, msgID, m_txMsgMap, len);
+      m_txMutex.unlock();
+
+      if (msgPacked) {
+        // Send message
+        CANMsg msg;
+        msg.setID(msgID);
+        msg.setPayload(msgData, len);
+        m_activeCANBus->write(msg);
+
+        m_numStreamedMsgsSent++;
+
+        ThisThread::sleep_for(TX_INTERDELAY);
+      } else {
+        MBED_WARNING(MBED_MAKE_ERROR(MBED_MODULE_PLATFORM, MBED_ERROR_CODE_INVALID_DATA_DETECTED),
+                      "CAN TX message packing failed");
+        m_numCANTXFaults++;
       }
     }
-
-    ThisThread::sleep_until(startTime + TX_PERIOD);
   }
 }
 

rover-apps/common/include/CANModule.h

@@ -0,0 +1,17 @@
+#pragma onceusing
+
+#include "CANInterface.h"
+#include "Module.h"
+#include "mbed.h"
+
+class CANModule final : public Module {
+ public:
+  CANModule(const Config &config);
+
+  void periodic_1ms(void) override {}
+  void periodic_10ms(void) override {}
+
+ private:
+  CANInterface interface;
+
+};

rover-apps/common/src/CANModule.cpp

@@ -0,0 +1,21 @@
+#include "CANModule.h"
+
+#include "Module.h"
+#include "mbed.h"
+
+// Using initializer lists to construct CANInterface object will attach ISRs and other required tasks
+CANModule::CANModule(const Config &config) : interface(config) {
+    // Nothing should be required here
+}
+
+void CANModule::periodic_1ms(void) {
+
+    // These functions need to be called at 1 kHz, or every 1ms
+    interface.rxClient();
+}
+
+void CANModule::periodic_10ms(void) {
+
+    // These functions need to be called every 100 Hz (10ms)
+    interface.txProcessor();
+}