compiler was right i was wrong

app/Cargo.toml

@@ -11,6 +11,7 @@ defmt-rtt = "0.4"
 cortex-m = { version = "0.7.7", features = ["inline-asm", "critical-section-single-core"] }
 cortex-m-rt = "0.7.3"
 embedded-hal = "0.2.7"
+embedded-can = "0.4.1"
 embedded-hal-async = { version = "1.0" }
 embedded-nal-async = { version = "0.7.1" }
 embedded-io-async = { version = "0.6.1" }

app/build/build.rs

@@ -3,12 +3,10 @@
 mod commands;
 mod datatypes;
 mod events;
-mod can;
 
 extern crate regex;
 extern crate serde;
 
-use std::collections::HashSet;
 use std::env;
 use std::fs;
 use std::path::Path;

app/build/commands.rs

@@ -3,13 +3,9 @@
 extern crate regex;
 extern crate serde;
 
-use std::collections::HashSet;
-use std::env;
 use std::fs;
-use std::path::Path;
 use std::sync::Mutex;
 use serde::Deserialize;
-use toml::map::Map;
 
 #[derive(Debug, Deserialize)]
 pub struct Config {

app/build/events.rs

@@ -3,11 +3,7 @@
 extern crate regex;
 extern crate serde;
 
-use std::collections::HashSet;
-use std::env;
-use std::fmt::format;
 use std::fs;
-use std::path::Path;
 use std::sync::Mutex;
 use serde::Deserialize;
 

app/src/core/communication/can.rs

@@ -10,24 +10,13 @@ use embassy_stm32::gpio::{Level, Output, Speed};
 use embassy_stm32::peripherals::{FDCAN1, FDCAN2};
 use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 use embassy_sync::priority_channel::{Receiver, Sender};
-use embedded_hal::can::Id;
+// use embedded_hal::can::Id;
 use heapless::binary_heap::Max;
 use heapless::Vec;
 use crate::{CanReceiver, DATA_IDS, DataReceiver, DataSender, Datatype, Event, EVENT_IDS, EventSender};
 use crate::core::communication::Datapoint;
-use crate::pconfig::bytes_to_u64;
+use crate::pconfig::{bytes_to_u64, id_as_value};
 
-pub trait Transmittable {
-    fn id_value(&self) -> u16;
-}
-impl Transmittable for embedded_hal::can::Id {
-    fn id_value(&self) -> u16 {
-        match self {
-            embedded_hal::can::Id::Standard(x) => *x.as_raw(),
-            embedded_hal::can::Id::Extended(y) => *y.as_raw() as u16,
-        }
-    }
-}
 
 #[embassy_executor::task]
 pub async fn can_transmitter(
@@ -52,14 +41,15 @@ pub async fn can_receiving_handler(
     loop {
         match bus.read().await {
             Ok((frame, timestamp)) => {
-                if DATA_IDS.contains(frame.id_value()) {
+                let id = id_as_value(frame.id());
+                if DATA_IDS.contains(&id) {
                     data_sender.send(Datapoint::new(
-                        Datatype::from_id(frame.id_value()),
+                        Datatype::from_id(id),
                         bytes_to_u64(frame.data()),
                         timestamp.as_ticks())
                     ).await;
-                } else if EVENT_IDS.contains(frame.id_value()) {
-                    event_sender.send(Event::from_id(frame.id_value()))
+                } else if EVENT_IDS.contains(&id) {
+                    event_sender.send(Event::from_id(id)).await;
                 }
             }
             Err(_) => {

app/src/core/communication/tcp.rs

@@ -95,15 +95,15 @@ pub async fn tcp_connection_handler(
                         event_sender.send(Event::EmergencyBrakeCommand).await;
                         #[cfg(debug_assertions)]
                         info!("[tcp] EmergencyBrake command received!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
-                        socket.flush();
-                        socket.write_all(b"")
+                        socket.flush().await;
+                        socket.write_all(b"").await;
                     }
                     Command::DefaultCommand(_) => {
                         #[cfg(debug_assertions)]
                         info!("[tcp] DefaultCommand received, unsure what to do with it...");
-                        socket.flush();
+                        socket.flush().await;
                         socket.write_all(b"DefaultCommand received, unsure what to do with it...").await;
-                        socket.flush();
+                        socket.flush().await;
                     }
                     Command::Levitate(_) => {
                         #[cfg(debug_assertions)]

app/src/core/controllers/can_controller.rs

@@ -33,7 +33,7 @@ use embassy_stm32::{can, Peripheral, Peripherals};
 use embassy_stm32::gpio::low_level::Pin;
 use embassy_stm32::peripherals::{FDCAN1, FDCAN2};
 use embassy_time::{Duration, Instant, Timer};
-use crate::core::communication::can::{can_one_receiving_handler, can_receiving_handler, can_transmitter, can_two_receiver_handler};
+use crate::core::communication::can::{can_receiving_handler, can_transmitter, can_two_receiver_handler};
 use crate::core::controllers::ethernet_controller::EthernetPins;
 
 

app/src/pconfig.rs

@@ -6,7 +6,8 @@ use embassy_stm32::can::config;
 use embassy_stm32::rcc::Pll;
 use embedded_nal_async::{Ipv4Addr, SocketAddr, SocketAddrV4, TcpConnect};
 use embassy_stm32::rcc::*;
-
+// use embedded_hal::can::Id;
+use embedded_can::Id;
 use embedded_nal_async::AddrType::IPv4;
 
 #[inline]
@@ -66,4 +67,15 @@ pub fn bytes_to_u64(b : &[u8]) -> u64 {
         x |= (b[i] as u64) << i;
     }
     x
+}
+
+pub fn id_as_value(id : &embedded_can::Id) -> u16 {
+    match id {
+        Id::Standard(x) => {
+            x.as_raw()
+        }
+        Id::Extended(y) => {
+            y.as_raw() as u16
+        }
+    }
 }