From 395ada379951ae0e6e9246e823cc7825bead52fc Mon Sep 17 00:00:00 2001
From: Jan Karssies <43203120+hjkarssies@users.noreply.github.com>
Date: Wed, 27 Mar 2024 15:52:43 +0100
Subject: [PATCH] Added std::function callback

Added std::function callback next to callback pointer to support lambda functions. This way, non-static functions can be used.
---
 src/CANController.cpp |  9 +++++++--
 src/CANController.h   |  4 +++-
 src/ESP32SJA1000.cpp  | 21 ++++++++++++++++++++-
 src/ESP32SJA1000.h    |  1 +
 src/MCP2515.cpp       | 26 ++++++++++++++++++++++++--
 src/MCP2515.h         |  1 +
 6 files changed, 56 insertions(+), 6 deletions(-)

diff --git a/src/CANController.cpp b/src/CANController.cpp
index 0890eec..3140e47 100644
--- a/src/CANController.cpp
+++ b/src/CANController.cpp
@@ -4,7 +4,7 @@
 #include "CANController.h"
 
 CANControllerClass::CANControllerClass() :
-  _onReceive(NULL),
+  _onReceivePointer(NULL),
 
   _packetBegun(false),
   _txId(-1),
@@ -182,7 +182,12 @@ void CANControllerClass::flush()
 
 void CANControllerClass::onReceive(void(*callback)(int))
 {
-  _onReceive = callback;
+  _onReceivePointer = callback;
+}
+
+void CANControllerClass::onReceive(std::function<void(int)> callback)
+{
+  _onReceiveFunction = callback;
 }
 
 int CANControllerClass::filter(int /*id*/, int /*mask*/)
diff --git a/src/CANController.h b/src/CANController.h
index cdaeb94..8d39e08 100644
--- a/src/CANController.h
+++ b/src/CANController.h
@@ -33,6 +33,7 @@ class CANControllerClass : public Stream {
   virtual void flush();
 
   virtual void onReceive(void(*callback)(int));
+  virtual void onReceive(std::function<void(int)> callback);
 
   virtual int filter(int id) { return filter(id, 0x7ff); }
   virtual int filter(int id, int mask);
@@ -49,7 +50,8 @@ class CANControllerClass : public Stream {
   virtual ~CANControllerClass();
 
 protected:
-  void (*_onReceive)(int);
+  void (*_onReceivePointer)(int);
+  std::function<void(int)> _onReceiveFunction;
 
   bool _packetBegun;
   long _txId;
diff --git a/src/ESP32SJA1000.cpp b/src/ESP32SJA1000.cpp
index 309e030..d7accb0 100644
--- a/src/ESP32SJA1000.cpp
+++ b/src/ESP32SJA1000.cpp
@@ -272,6 +272,20 @@ void ESP32SJA1000Class::onReceive(void(*callback)(int))
   }
 }
 
+void ESP32SJA1000Class::onReceive(std::function<void(int)> callback)
+{
+  CANControllerClass::onReceive(callback);
+
+  if (_intrHandle) {
+    esp_intr_free(_intrHandle);
+    _intrHandle = NULL;
+  }
+
+  if (callback) {
+    esp_intr_alloc(ETS_CAN_INTR_SOURCE, 0, ESP32SJA1000Class::onInterrupt, this, &_intrHandle);
+  }
+}
+
 int ESP32SJA1000Class::filter(int id, int mask)
 {
   id &= 0x7ff;
@@ -380,7 +394,12 @@ void ESP32SJA1000Class::handleInterrupt()
     // received packet, parse and call callback
     parsePacket();
 
-    _onReceive(available());
+    if (_onReceivePointer) {
+      _onReceivePointer(available());
+    }
+    if (_onReceiveFunction) {
+      _onReceiveFunction(available());
+    }
   }
 }
 
diff --git a/src/ESP32SJA1000.h b/src/ESP32SJA1000.h
index b83cddc..ce96449 100644
--- a/src/ESP32SJA1000.h
+++ b/src/ESP32SJA1000.h
@@ -25,6 +25,7 @@ class ESP32SJA1000Class : public CANControllerClass {
   virtual int parsePacket();
 
   virtual void onReceive(void(*callback)(int));
+  virtual void onReceive(std::function<void(int)> callback);
 
   using CANControllerClass::filter;
   virtual int filter(int id, int mask);
diff --git a/src/MCP2515.cpp b/src/MCP2515.cpp
index a153a76..8a9bd5b 100644
--- a/src/MCP2515.cpp
+++ b/src/MCP2515.cpp
@@ -275,6 +275,23 @@ void MCP2515Class::onReceive(void(*callback)(int))
   }
 }
 
+void MCP2515Class::onReceive(std::function<void(int)> callback)
+{
+  CANControllerClass::onReceive(callback);
+
+  pinMode(_intPin, INPUT);
+
+  if (callback) {
+    SPI.usingInterrupt(digitalPinToInterrupt(_intPin));
+    attachInterrupt(digitalPinToInterrupt(_intPin), MCP2515Class::onInterrupt, LOW);
+  } else {
+    detachInterrupt(digitalPinToInterrupt(_intPin));
+#ifdef SPI_HAS_NOTUSINGINTERRUPT
+    SPI.notUsingInterrupt(digitalPinToInterrupt(_intPin));
+#endif
+  }
+}
+
 int MCP2515Class::filter(int id, int mask)
 {
   id &= 0x7ff;
@@ -442,8 +459,13 @@ void MCP2515Class::handleInterrupt()
     return;
   }
 
-  while (parsePacket() || _rxId != -1) {
-    _onReceive(available());
+  while (parsePacket()) {
+    if (_onReceivePointer) {
+      _onReceivePointer(available());
+    }
+    if (_onReceiveFunction) {
+      _onReceiveFunction(available());
+    }
   }
 }
 
diff --git a/src/MCP2515.h b/src/MCP2515.h
index 2f0444f..3615623 100644
--- a/src/MCP2515.h
+++ b/src/MCP2515.h
@@ -35,6 +35,7 @@ class MCP2515Class : public CANControllerClass {
   virtual int parsePacket();
 
   virtual void onReceive(void(*callback)(int));
+  virtual void onReceive(std::function<void(int)> callback);
 
   using CANControllerClass::filter;
   virtual int filter(int id, int mask);