[Core]: Detached message handling

[GwnDaan]

Describe your changes

Introduced 3 classes that will remove the the dependency on the CANNetworkManager for all classes that want to receive / send messages. namely:

• CANMessagingProvider: a simple interface that provides the "send can message" function, currently this will always be the CANNetworkManager, but it also allows us to exchange it easily, e.g. if we want some unit test without the network manager.
• CANMessagingConsumer: a base class to extend from. It provides the send message function and allows for handling tx/rx messages. I.e. any class that wants to interact with can messages can extend from this one and have everything ready.
• CANMessageHandler: connects the CANMessagingProvider with CANMessagingConsumer's. And it's "process tx/rx message" function can be called to automatically distribute a particular message across consumers.

I think this will be a better alternative than passing the network manager around everywhere when we are refactoring away from the singleton. And it might especially be useful for unit testing, where we can isolate a class we wish to test and thereby remove interference from others. Though I'd like to hear any thoughts on this, as it does surely add an extra layer off complexity to the stack.

I see 3 ways a consumer can be set-up;

• We can pas the CANMessageHandler to the consumer class and let it register itself, i.e.:

  void initialize(CANMessageHandler messageHandler)
  {
  // This class must extend enabled_shared_from_this, unlikely and unintuitive...
  messageHandler.add_consumer(std::shared_from_this());
  
  // If we decide to allow raw-pointers, but note that also
  // introduces the risk of forgetting the removal on cleanup
  messageHandler.add_consumer(this);
  }

• We add an extra function to the CANNetworkManager that sets up the messaging for the passed in consumer:

  void CANNetworkManager::initialize_messaging(std::shared_ptr<CANMessagingConsumer> consumer)
  {
  messageHandler.add_consumer(consumer);
  }

• Since the above is really simple, it might instead make more sense to just let the end user/application call that function of the message handler, i.e.:

  auto interfaceUnderTest = std::make_shared<ShortcutButtonInterface>(internalECU, true);
  CANNetworkManager::CANNetwork.get_can_message_handler().add_consumer(interfaceUnderTest);

I think I prefer the last one. To start off, I switched over the ShortcutButtonInterface and HeartbeatInterface to this messaging system so we can see what it's like.

What's next

Once we find and agree on an approach, all the other classes that send/receive messages have to be adopted to this method. Furthermore, I'd like some unit-tests that will be run first in line to make sure the system remains correctly in place and it doesn't cause other tests to fail.

[GwnDaan]

I think we do keep getting further from the ability to ever really make the stack static allocation friendly, which is maybe fine? I know some levels of functional safety forbid any dynamic memory - which would be pretty painful for us to deal with, so maybe it's not worth worrying about especially with nobody explicitly asking for it or sponsoring that kind of thing?

Yeah I know... Even though it would have been super nice to also be able to support those kind of strict rule sets, I think static allocation is out of our scope at the moment. Especially since we have always worked with the dynamic allocation and expanded on that. The shared pointers already help a lot to manage the lifecycle of those dynamically allocated objects. Converting the whole stack to be static allocation friendly I imagine will complicate so many things, it would be almost a rewrite...

Edit: hmm, it might be doable with some clever bit of macro usage to replace all shared pointers with raw pointers, similar to what we do with the threaded stuff, but it will still definitely complicate things. I don't think this PR will make it any harder than it was before, instead it might even make it easier as we abstract things, it can be easier to (progressively) refactor things later on.

[ad3154]

Yeah... but I do think we should worry about our current stuff and releasing 1.0 before we think too hard about it the static allocation stuff I think (if ever) I was mostly just thinking out loud 😊

[sonarcloud[bot]]

Quality Gate passed

Issues
16 New issues
0 Accepted issues

Measures
0 Security Hotspots
77.2% Coverage on New Code
0.0% Duplication on New Code

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