can_listener.h

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/**
 * @file    can_listener.h
 *
 * @date March 31, 2021
 * @author Matthew Kennedy, (c) 2021
 */
 
#pragma once
 
#include "can.h"
 
class CanListener {
public:
    CanListener(uint32_t id)
        : m_id(id)
    {
    }
 
    CanListener* processFrame(const size_t busIndex, const CANRxFrame& frame, efitick_t nowNt) {
        if (acceptFrame(busIndex, frame)) {
            decodeFrame(frame, nowNt);
        }
 
        return m_next;
    }
 
    uint32_t getId() {
        return m_id;
    }
 
    void setNext(CanListener* next) {
        m_next = next;
    }
 
    virtual CanListener* request() {
        return m_next;
    }
 
    bool hasNext() const {
        return m_next;
    }
 
    // Return true if the provided frame should be accepted for processing by the listener.
    // Override if you need more complex logic than comparing to a single ID.
    virtual bool acceptFrame(const size_t busIndex, const CANRxFrame& frame) const {
        /* accept from all buses */
        (void)busIndex;
 
        return CAN_ID(frame) == m_id;
    }
 
protected:
    virtual void decodeFrame(const CANRxFrame& frame, efitick_t nowNt) = 0;
 
private:
    CanListener* m_next = nullptr;
 
    const uint32_t m_id;
};