From b6e552e178982ffdc0eaaa7f0d7a932da1a915be Mon Sep 17 00:00:00 2001
From: XANTRONIX Development <dev@xantronix.com>
Date: Wed, 27 Dec 2023 13:59:55 -0500
Subject: [PATCH] That's better, I think

---
 bin/dash2can.c              | 11 ++++++++---
 include/hexagram/schedule.h | 14 +++++++++++---
 src/schedule.c              | 12 +++++++-----
 3 files changed, 26 insertions(+), 11 deletions(-)

diff --git a/bin/dash2can.c b/bin/dash2can.c
index 69c7bd6..f51e51e 100644
--- a/bin/dash2can.c
+++ b/bin/dash2can.c
@@ -42,14 +42,14 @@ static int ev_handler(struct can_frame *frame, void *ctx) {
     return hexagram_can_if_write(can_if, frame);
 }
 
-static hexagram_schedule_slot table[4] = {
+static hexagram_schedule_table_entry table[4] = {
     { 16670, { .can_id = 0x280, .can_dlc = 8 }, ev_handler },
     { 16670, { .can_id = 0x288, .can_dlc = 8 }, ev_handler },
     { 16670, { .can_id = 0x320, .can_dlc = 8 }, ev_handler },
     { 16670, { .can_id = 0x5a0, .can_dlc = 8 }, ev_handler }
 };
 
-static void table_update(hexagram_schedule_slot *table,
+static void table_update(hexagram_schedule_table_entry *table,
                          hexagram_telemetry_dash_packet *packet) {
     float speed_ms = sqrt(powf(packet->velocity.x, 2)
                         + powf(packet->velocity.z, 2));
@@ -67,6 +67,7 @@ static void table_update(hexagram_schedule_slot *table,
 }
 
 int hexagram_main_dash2can(int argc, char **argv) {
+    size_t i, count = 4;
     int sock;
 
     struct sockaddr_in sockaddr;
@@ -100,7 +101,11 @@ int hexagram_main_dash2can(int argc, char **argv) {
         goto error_can_if_open;
     }
 
-    if ((schedule = hexagram_schedule_create(table, 4, can_if)) == NULL) {
+    for (i=0; i<count; i++) {
+        memset(table[i].frame.data, '\0', sizeof(table[i].frame.data));
+    }
+
+    if ((schedule = hexagram_schedule_create(table, count, can_if)) == NULL) {
         goto error_schedule_create;
     }
 
diff --git a/include/hexagram/schedule.h b/include/hexagram/schedule.h
index a3d5c3c..be4ab45 100644
--- a/include/hexagram/schedule.h
+++ b/include/hexagram/schedule.h
@@ -1,19 +1,25 @@
 #ifndef _HEXAGRAM_SCHEDULE_H
 #define _HEXAGRAM_SCHEDULE_H
 
-#include <time.h>
+#include <stdint.h>
 #include <sys/types.h>
 #include <sys/time.h>
+#include <time.h>
 #include <signal.h>
 
 #include <hexagram/can.h>
 
 typedef int (*hexagram_schedule_handler)(struct can_frame *, void *);
 
-typedef struct _hexagram_schedule_slot {
+typedef struct _hexagram_schedule_table_entry {
     time_t interval_us;
     struct can_frame frame;
     hexagram_schedule_handler handler;
+} hexagram_schedule_table_entry;
+
+typedef struct _hexagram_schedule_slot {
+    time_t interval_us;
+    hexagram_schedule_handler handler;
 } hexagram_schedule_slot;
 
 typedef struct _hexagram_schedule {
@@ -24,11 +30,13 @@ typedef struct _hexagram_schedule {
     size_t current,
            count;
 
+    hexagram_schedule_table_entry *table;
+
     void *ctx;
     int error;
 } hexagram_schedule;
 
-hexagram_schedule *hexagram_schedule_create(hexagram_schedule_slot *table,
+hexagram_schedule *hexagram_schedule_create(hexagram_schedule_table_entry *table,
                                             size_t count,
                                             void *ctx);
 
diff --git a/src/schedule.c b/src/schedule.c
index b097318..afbfc0d 100644
--- a/src/schedule.c
+++ b/src/schedule.c
@@ -42,7 +42,8 @@ static void _ev_notify(union sigval sv) {
         hexagram_schedule_slot *slot = _slot(schedule, schedule->current);
         time_t delay = slot->interval_us;
 
-        if (slot->handler(&slot->frame, schedule->ctx) < 0) {
+        if (slot->handler(&(schedule->table[schedule->current].frame),
+                          schedule->ctx) < 0) {
             schedule->error = errno;
 
             break;
@@ -65,7 +66,7 @@ static void _ev_notify(union sigval sv) {
 }
 
 static int _schedule_init(hexagram_schedule *schedule,
-                          hexagram_schedule_slot *table,
+                          hexagram_schedule_table_entry *table,
                           size_t count,
                           void *ctx) {
     size_t i;
@@ -75,6 +76,7 @@ static int _schedule_init(hexagram_schedule *schedule,
     schedule->current = 0;
     schedule->error   = 0;
     schedule->count   = count;
+    schedule->table   = table;
     schedule->ctx     = ctx;
 
     schedule->ev.sigev_notify          = SIGEV_THREAD;
@@ -90,8 +92,8 @@ static int _schedule_init(hexagram_schedule *schedule,
     for (i=0; i<count; i++) {
         hexagram_schedule_slot *slot = &((hexagram_schedule_slot *)(schedule + 1))[i];
 
-        memset(slot->frame.data, '\0', sizeof(*(slot->frame.data)));
-        memcpy(slot, &table[i], sizeof(hexagram_schedule_slot));
+        slot->interval_us = table[i].interval_us;
+        slot->handler     = table[i].handler;
     }
 
     qsort(schedule + 1, count, sizeof(hexagram_schedule_slot), _slot_cmp);
@@ -102,7 +104,7 @@ error_timer_create:
     return -1;
 }
 
-hexagram_schedule *hexagram_schedule_create(hexagram_schedule_slot *table,
+hexagram_schedule *hexagram_schedule_create(hexagram_schedule_table_entry *table,
                                             size_t count,
                                             void *ctx) {
     hexagram_schedule *schedule;