From 41abc005cd4eb9efd750f15e9ca35abcb7483996 Mon Sep 17 00:00:00 2001
From: XANTRONIX Development <dev@xantronix.com>
Date: Wed, 27 Dec 2023 01:01:37 -0500
Subject: [PATCH] Refactor dash2can using hexagram_schedule

---
 bin/dash2can.c | 75 ++++++++++++++++++++++++--------------------------
 1 file changed, 36 insertions(+), 39 deletions(-)

diff --git a/bin/dash2can.c b/bin/dash2can.c
index 9d2156c..be77c5e 100644
--- a/bin/dash2can.c
+++ b/bin/dash2can.c
@@ -13,6 +13,7 @@
 
 #include <hexagram/can.h>
 #include <hexagram/capture.h>
+#include <hexagram/schedule.h>
 #include <hexagram/telemetry/dash.h>
 
 #include "dash2can.h"
@@ -35,11 +36,22 @@ static void usage(int argc, char **argv, const char *message, ...) {
     exit(1);
 }
 
+static hexagram_schedule_slot table[] = {
+    { 16670, NULL, { .can_id = 0x280, .can_dlc = 8 }},
+    { 16670, NULL, { .can_id = 0x288, .can_dlc = 8 }},
+    { 16670, NULL, { .can_id = 0x320, .can_dlc = 8 }},
+    { 16670, NULL, { .can_id = 0x5a0, .can_dlc = 8 }},
+    { 0, NULL, {} }
+};
+
 int hexagram_main_dash2can(int argc, char **argv) {
     int sock;
 
     struct sockaddr_in sockaddr;
     hexagram_can_if *can_if;
+    hexagram_schedule *schedule;
+
+    size_t i, count = 4;
 
     if (argc < 2) {
         usage(argc, argv, "No listening UDP port provided");
@@ -68,9 +80,24 @@ int hexagram_main_dash2can(int argc, char **argv) {
         goto error_can_if_open;
     }
 
+    for (i=0; i<count; i++) {
+        table[i].iface = can_if;
+    }
+
+    /* Engine temperature  */
+    table[1].frame.data[1] = (uint8_t)((87.0 / 0.75) + 48);
+
+    /* Fuel status */
+    table[2].frame.data[2] = 0x0e;
+
+    if ((schedule = hexagram_schedule_create(table, count)) == NULL) {
+        goto error_schedule_create;
+    }
+
+    hexagram_schedule_run(schedule);
+
     while (1) {
         hexagram_telemetry_dash_packet packet;
-        struct can_frame frame;
         ssize_t len;
 
         float speed_ms = sqrt(powf(packet.velocity.x, 2)
@@ -86,48 +113,15 @@ int hexagram_main_dash2can(int argc, char **argv) {
         }
 
         /* Engine speed */
-        memset(&frame, '\0', sizeof(frame));
-        frame.can_id  = 0x280;
-        frame.can_dlc = 8;
-        frame.data[3] = (engine_rpm & 0xff00) >> 8;
-        frame.data[2] =  engine_rpm & 0x00ff;
-
-        if (hexagram_can_if_write(can_if, &frame) < 0) {
-            goto error_io;
-        }
-
-        /* Engine temperature  */
-        memset(frame.data, '\0', sizeof(frame.data));
-        frame.can_id  = 0x288;
-        frame.can_dlc = 8;
-        frame.data[1] = (uint8_t)((87.0 / 0.75) + 48);
-
-        if (hexagram_can_if_write(can_if, &frame) < 0) {
-            goto error_io;
-        }
-
-        /* Fuel status */
-        memset(frame.data, '\0', sizeof(frame.data));
-        frame.can_id  = 0x320;
-        frame.can_dlc = 8;
-        frame.data[2] = 0x0e;
-
-        if (hexagram_can_if_write(can_if, &frame) < 0) {
-            goto error_io;
-        }
+        table[0].frame.data[3] = (engine_rpm & 0xff00) >> 8;
+        table[0].frame.data[2] =  engine_rpm & 0x00ff;
 
         /* Vehicle speed */
-        memset(frame.data, '\0', sizeof(frame.data));
-        frame.can_id  = 0x5a0;
-        frame.can_dlc = 8;
-        frame.data[1] = (speed_rps & 0xff00) >> 8;
-        frame.data[2] =  speed_rps & 0x00ff;
-
-        if (hexagram_can_if_write(can_if, &frame) < 0) {
-            goto error_io;
-        }
+        table[3].frame.data[1] = (speed_rps & 0xff00) >> 8;
+        table[3].frame.data[2] =  speed_rps & 0x00ff;
     }
 
+    hexagram_schedule_destroy(schedule);
     hexagram_can_if_close(can_if);
 
     close(sock);
@@ -135,6 +129,9 @@ int hexagram_main_dash2can(int argc, char **argv) {
     return 0;
 
 error_io:
+    hexagram_schedule_destroy(schedule);
+
+error_schedule_create:
     hexagram_can_if_close(can_if);
 
 error_can_if_open: