From ad9088697d38af7f784191cd9da865100f958632 Mon Sep 17 00:00:00 2001
From: Evan <evan.lombardo04@gmail.com>
Date: Tue, 13 Feb 2024 17:15:02 -0500
Subject: [PATCH] Streamline code

---
 MSB/api/msb_can.h    | 2 --
 MSB/api/msb_common.h | 2 +-
 MSB/msb_can.c        | 9 +++++++--
 MSB/msb_main.c       | 3 ++-
 4 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/MSB/api/msb_can.h b/MSB/api/msb_can.h
index f5b17b9..26009e2 100644
--- a/MSB/api/msb_can.h
+++ b/MSB/api/msb_can.h
@@ -2,8 +2,6 @@
 #ifndef MSB_CAN_H
 #define MSB_CAN_H
 
-void loop_publish_can();
-
 void start_can_publisher();
 
 void stop_can_publisher();
diff --git a/MSB/api/msb_common.h b/MSB/api/msb_common.h
index 209d862..337790b 100644
--- a/MSB/api/msb_common.h
+++ b/MSB/api/msb_common.h
@@ -2,6 +2,6 @@
 #ifndef MSB_COMMON_H
 #define MSB_COMMON_H
 
-void push_can_queue(char* message);
+short push_can_queue(char* message);
 
 #endif
diff --git a/MSB/msb_can.c b/MSB/msb_can.c
index bb7c010..d623149 100644
--- a/MSB/msb_can.c
+++ b/MSB/msb_can.c
@@ -2,7 +2,9 @@
 #include "api/msb_common.h"
 #include "api/msb_can.h"
 
-char* queue[25];
+#define MAX_SIZE 25
+
+char* queue[MAX_SIZE];
 int queue_index;
 int running = 0;
 
@@ -22,6 +24,9 @@ void stop_can_publisher() {
     running = 0;
 }
 
-void push_can_queue(char* message) {
+short push_can_queue(char* message) {
+    if (queue_index == MAX_SIZE) return 0;
+    
     queue[queue_index++] = message;
+    return 1;
 }
diff --git a/MSB/msb_main.c b/MSB/msb_main.c
index e6e889c..60b23f5 100644
--- a/MSB/msb_main.c
+++ b/MSB/msb_main.c
@@ -1,8 +1,9 @@
 
 #include "api/msb_main.h"
 #include "api/msb_can.h"
+#include "cmsis_os.h"
 
-//osThreadId_t canTaskHandle;
+osThreadId_t canTaskHandle;
 
 void init_msb() {
     // spawn CAN output thread