From 80613827c980eb8ab5b0f285b2611fb36d1ce6af Mon Sep 17 00:00:00 2001
From: John Wellbelove <john.wellbelove@etlcpp.com>
Date: Fri, 15 Mar 2024 10:58:11 +0000
Subject: [PATCH] Turned etl::send_message into templates so that direct calls
 to concrete routers are possible

---
 include/etl/message_router.h | 40 +++++++++++++++++++++++++++---------
 1 file changed, 30 insertions(+), 10 deletions(-)

diff --git a/include/etl/message_router.h b/include/etl/message_router.h
index c2712b16..63c726b2 100644
--- a/include/etl/message_router.h
+++ b/include/etl/message_router.h
@@ -342,11 +342,22 @@ namespace etl
     }
   };
 
+  //***************************************************************************
+  /// Is T ultimately derived from etl::imessage_router?
+  //***************************************************************************
+  template <typename T>
+  struct is_message_router : public etl::bool_constant<etl::is_base_of<etl::imessage_router, typename etl::remove_cvref<T>::type>::value>
+  {
+  };
+
   //***************************************************************************
   /// Send a message to a router.
   //***************************************************************************
-  static inline void send_message(etl::imessage_router& destination,
-                                  const etl::imessage&  message)
+  template <typename TRouter, typename TMessage>
+  static 
+  typename etl::enable_if<etl::is_message_router<TRouter>::value && etl::is_message<TMessage>::value, void>::type
+    send_message(TRouter&        destination,
+                 const TMessage& message)
   {
     destination.receive(message);
   }
@@ -354,8 +365,11 @@ namespace etl
   //***************************************************************************
   /// Send a shared message to a router.
   //***************************************************************************
-  static inline void send_message(etl::imessage_router& destination,
-                                  etl::shared_message message)
+  template <typename TRouter>
+  static 
+  typename etl::enable_if<etl::is_message_router<TRouter>::value, void>::type
+    send_message(TRouter&            destination,
+                 etl::shared_message message)
   {
     destination.receive(message);
   }
@@ -363,9 +377,12 @@ namespace etl
   //***************************************************************************
   /// Send a message to a router with a particular id.
   //***************************************************************************
-  static inline void send_message(etl::imessage_router& destination,
-                                  etl::message_router_id_t id,
-                                  const etl::imessage& message)
+  template <typename TRouter, typename TMessage>
+  static 
+  typename etl::enable_if<etl::is_message_router<TRouter>::value && etl::is_message<TMessage>::value, void>::type
+    send_message(TRouter&                 destination,
+                 etl::message_router_id_t id,
+                 const TMessage&          message)
   {
     destination.receive(id, message);
   }
@@ -373,9 +390,12 @@ namespace etl
   //***************************************************************************
   /// Send a shared message to a router with a particular id.
   //***************************************************************************
-  static inline void send_message(etl::imessage_router& destination,
-                                  etl::message_router_id_t id,
-                                  etl::shared_message message)
+  template <typename TRouter>
+  static
+  typename etl::enable_if<etl::is_message_router<TRouter>::value, void>::type
+    send_message(TRouter&                 destination,
+                 etl::message_router_id_t id,
+                 etl::shared_message      message)
   {
     destination.receive(id, message);
   }