New threads management, only one argument needed.

Now CanBus_c object is the main core part to handle
queues and to follow CAN bus reading process.

Change-Id: I33cdfadb06362da4330a572caa1c1cf61d3ab3fd
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

5 files changed, 290 insertions, 268 deletions

diff --git a/can-utils.cpp b/can-utils.cpp
index 53b4f46c..abfe0a04 100644
--- a/can-utils.cpp
+++ b/can-utils.cpp
@@ -6,7 +6,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *   http://www.apache.org/licenses/LICENSE-2.0
+ *	 http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -23,6 +23,11 @@
 *
 *********************************************************************************/
 
+CanBus_c::CanBus_c(afb_binding_interface *itf)
+{
+	interface = itf;
+}
+
 int CanBus_c::open()
 {
 	const int canfd_on = 1;
@@ -85,11 +90,41 @@ int CanBus_c::close()
 
 void CanBus_c::start_threads()
 {
-	std::queue <CanMessage_t> can_message_q;
+	std::queue <CanMessage_c> can_message_q;
 
-    th_reading = std::thread(can_reader, interface, socket, can_message_q);
-    th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_queue);
-    th_pushing = std::thread(can_event_push, interface, can_message_queue);
+	th_reading = std::thread(can_reader, interface, socket, can_message_q);
+	th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_q);
+	th_pushing = std::thread(can_event_push, interface, can_message_q);
+}
+
+/*
+ * Send a can message from a CanMessage_c object.
+ */
+int CanBus_c::send_can_message(CanMessage_c can_msg)
+{
+	int nbytes;
+	canfd_frame *f;
+
+	f = can_msg.convert_to_canfd_frame();
+
+	if(socket >= 0)
+	{
+		nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0,
+				(struct sockaddr*)&txAddress, sizeof(txAddress));
+				
+		if (nbytes == -1)
+		{
+			ERROR(interface, "send_can_message: Sending CAN frame failed.");
+			return -1;
+		}
+		return nbytes;
+	}
+	else
+	{
+		ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+		open_can_dev();
+	}
+	return 0;
 }
 
 /********************************************************************************
@@ -100,81 +135,91 @@ void CanBus_c::start_threads()
 
 uint32_t CanMessage_c::get_id()
 {
-    return id;
+	return id;
 }
 
 int CanMessage_c::get_format()
 {
-    return format;
+	return format;
 }
 
 uint8_t CanMessage_c::get_data()
 {
-    return data;
+	return data;
 }
 uint8_t CanMessage_c::get_lenght()
 {
-    return lenght;
+	return lenght;
 }
 
 void CanMessage_c::set_id(uint32_t new_id)
 {
-    switch(format):
-        case SIMPLE:
-            id = new_id & CAN_SFF_MASK;
-        case EXTENDED:
-            id = new_id & CAN_EFF_MASK;
-        default:
-            ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
+	switch(format):
+		case CanMessageFormat::SIMPLE:
+			id = new_id & CAN_SFF_MASK;
+		case CanMessageFormat::EXTENDED:
+			id = new_id & CAN_EFF_MASK;
+		default:
+			ERROR(interface, "ERROR: Can set id, not a compatible format or format not set prior to set id.");
 }
 
 void CanMessage_c::set_format(CanMessageFormat new_format)
 {
-    if(new_format == SIMPLE || new_format == EXTENDED)
-        format = new_format;
-    else
-        ERROR(interface, "ERROR: Can set format, wrong format chosen");
+	if(new_format == CanMessageFormat::SIMPLE || new_format == CanMessageFormat::EXTENDED)
+		format = new_format;
+	else
+		ERROR(interface, "ERROR: Can set format, wrong format chosen");
 }
 
 void CanMessage_c::set_data(uint8_t new_data)
 {
-    data = new_data;
+	data = new_data;
 }
 
 void CanMessage_c::set_lenght(uint8_t new_length)
 {
-    lenght = new_lenght;
+	lenght = new_lenght;
 }
 
 /*
- * This is the prefered way to initialize a CanMessage object 
+ * This is the preferred way to initialize a CanMessage object 
  * from a read canfd_frame message.
  * 
  * params: canfd_frame pointer
  */
-void CanMessage_c::convert_canfd_frame_to_CanMessage(canfd_frame *frame)
+void CanMessage_c::convert_from_canfd_frame(canfd_frame *frame)
 {
-    
+	
 	lenght = (canfd_frame->len > maxdlen) ? maxdlen : canfd_frame->len;
 
 	switch (canfd_frame->can_id): 
-        case (canfd_frame->can_id & CAN_ERR_FLAG):
-		    id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
-            break;
-        case (canfd_frame->can_id & CAN_EFF_FLAG):
-		    id = canfd_frame->can_id & CAN_EFF_MASK;
-    		format = EXTENDED;
+		case (canfd_frame->can_id & CAN_ERR_FLAG):
+			id = canfd_frame->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG);
+			break;
+		case (canfd_frame->can_id & CAN_EFF_FLAG):
+			id = canfd_frame->can_id & CAN_EFF_MASK;
+			format = CanMessageFormat::EXTENDED;
 			break;
 		default:
-			format = STANDARD;
+			format = CanMessageFormat::STANDARD;
 			id = canfd_frame->can_id & CAN_SFF_MASK;
 			break;
 
 	if (sizeof(canfd_frame->data) <= sizeof(data))
 	{
-		for (i = 0; i < lenght; i++)
-			can_message->data.bytes[i] = canfd_frame->data[i];
+		memcpy(data, canfd_frame->data, lenght);
 		return 0;
 	} else if (sizeof(canfd_frame->data) >= CAN_MAX_DLEN)
 		ERROR(interface, "CanMessage_c: canfd_frame data too long to be stored into CanMessage object");
-}
\ No newline at end of file
+}
+
+canfd_frame* convert_to_canfd_frame()
+{
+	canfd_frame frame;
+
+	frame.id = can_msg.get_id();
+	frame.len = can_msg.get_lenght();
+	frame.data = can_msg.get_data();
+
+	return &frame;
+}
diff --git a/can-utils.h b/can-utils.h
index 4b5102cb..8c850e6e 100644
--- a/can-utils.h
+++ b/can-utils.h
@@ -6,7 +6,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *   http://www.apache.org/licenses/LICENSE-2.0
+ *	 http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -34,9 +34,9 @@
 static const int queue_##type##_max_length = max_length; \
 static const int queue_##type##_max_internal_length = max_length + 1; \
 typedef struct queue_##type##_s { \
-    int head; \
-    int tail; \
-    type elements[max_length + 1]; \
+	int head; \
+	int tail; \
+	type elements[max_length + 1]; \
 } queue_##type; \
 \
 bool queue_##type##_push(queue_##type* queue, type value); \
@@ -60,14 +60,14 @@ void queue_##type##_snapshot(queue_##type* queue, type* snapshot, int max);
  * signals - The list of all signals.
  * signalCount - The length of the signals array.
  * value - The CAN signal parsed from the message as a raw floating point
- *      value.
+ *		value.
  * send - An output parameter. If the decoding failed or the CAN signal should
- *      not send for some other reason, this should be flipped to false.
+ *		not send for some other reason, this should be flipped to false.
  *
  * Returns a decoded value in an openxc_DynamicField struct.
  */
 typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
-        CanSignal* signals, int signalCount, float value, bool* send);
+		CanSignal* signals, int signalCount, float value, bool* send);
 
 /* Public: The type signature for a CAN signal encoder.
  *
@@ -80,13 +80,15 @@ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
  * not be encoded for some other reason, this will be flipped to false.
  */
 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
-        openxc_DynamicField* value, bool* send);
+		openxc_DynamicField* value, bool* send);
 
 /* 
  * CanBus represent a can device definition gotten from configuraiton file 
  */
 class CanBus_c {
 	private:
+		afb_binding_interface *interface;
+
 		/* Got from conf file */
 		std::string deviceName;
 
@@ -94,27 +96,69 @@ class CanBus_c {
 		bool is_fdmode_on;
 		struct sockaddr_can txAddress;
 
-        std::thread th_reading;
-        std::thread th_decoding;
-        std::thread th_pushing;
+		std::thread th_reading;
+		std::thread th_decoding;
+		std::thread th_pushing;
+		std::queue <CanMessage_c> can_message_q;
+		std::queue <openxc_VehicleMessage> VehicleMessage_q;
 
 	public:
 		int open();
 		int close();
 
-        void start_threads();
+		void start_threads();
+		int send_can_message(CanMessage_c can_msg);
+};
+
+/* A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ *
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * data  - The message's data field.
+ * length - the length of the data array (max 8).
+struct CanMessage {
+	uint32_t id;
+	CanMessageFormat format;
+	uint8_t data[CAN_MESSAGE_SIZE];
+	uint8_t length;
+};
+typedef struct CanMessage CanMessage;
+*/
+class CanMessage_c {
+	private:
+		uint32_t id;
+		CanMessageFormat format;
+		uint8_t data[CAN_MESSAGE_SIZE];
+		uint8_t length;
+
+	public:
+		uint32_t get_id();
+		int get_format();
+		uint8_t get_data();
+		uint8_t get_lenght();
+
+		void set_id(uint32_t id);
+		void set_format(CanMessageFormat format);
+		void set_data(uint8_t data);
+		void set_lenght(uint8_t length);
+
+		void convert_from_canfd_frame(canfd_frame frame);
+		canfd_frame convert_to_canfd_frame();
 };
 
+QUEUE_DECLARE(CanMessage_c, 8);
+
 /* Public: The ID format for a CAN message.
  *
  * STANDARD - standard 11-bit CAN arbitration ID.
  * EXTENDED - an extended frame, with a 29-bit arbitration ID.
  */
-enum CanMessageFormat_c {
-    STANDARD,
-    EXTENDED,
+enum CanMessageFormat {
+	STANDARD,
+	EXTENDED,
 };
-typedef enum CanMessageFormat_c CanMessageFormat;
+typedef enum CanMessageFormat CanMessageFormat;
 
 /* Public: A state encoded (SED) signal's mapping from numerical values to
  * OpenXC state names.
@@ -122,94 +166,74 @@ typedef enum CanMessageFormat_c CanMessageFormat;
  * value - The integer value of the state on the CAN bus.
  * name  - The corresponding string name for the state in OpenXC.
 struct CanSignalState {
-    const int value;
-    const char* name;
+	const int value;
+	const char* name;
 };
 typedef struct CanSignalState CanSignalState;
  */
  class CanSignalState_c {
-     private:
-        const int value;
-        const char *name;
+	 private:
+		const int value;
+		const char *name;
 };
 
 /* Public: A CAN signal to decode from the bus and output over USB.
  *
- * message     - The message this signal is a part of.
+ * message	   - The message this signal is a part of.
  * genericName - The name of the signal to be output over USB.
  * bitPosition - The starting bit of the signal in its CAN message (assuming
- *               non-inverted bit numbering, i.e. the most significant bit of
- *               each byte is 0)
- * bitSize     - The width of the bit field in the CAN message.
- * factor      - The final value will be multiplied by this factor. Use 1 if you
- *               don't need a factor.
- * offset      - The final value will be added to this offset. Use 0 if you
- *               don't need an offset.
+ *				 non-inverted bit numbering, i.e. the most significant bit of
+ *				 each byte is 0)
+ * bitSize	   - The width of the bit field in the CAN message.
+ * factor	   - The final value will be multiplied by this factor. Use 1 if you
+ *				 don't need a factor.
+ * offset	   - The final value will be added to this offset. Use 0 if you
+ *				 don't need an offset.
  * minValue    - The minimum value for the processed signal.
  * maxValue    - The maximum value for the processed signal.
  * frequencyClock - A FrequencyClock struct to control the maximum frequency to
- *              process and send this signal. To process every value, set the
- *              clock's frequency to 0.
+ *				process and send this signal. To process every value, set the
+ *				clock's frequency to 0.
  * sendSame    - If true, will re-send even if the value hasn't changed.
  * forceSendChanged - If true, regardless of the frequency, it will send the
- *              value if it has changed.
- * states      - An array of CanSignalState describing the mapping
- *               between numerical and string values for valid states.
+ *				value if it has changed.
+ * states	   - An array of CanSignalState describing the mapping
+ *				 between numerical and string values for valid states.
  * stateCount  - The length of the states array.
  * writable    - True if the signal is allowed to be written from the USB host
- *               back to CAN. Defaults to false.
- * decoder     - An optional function to decode a signal from the bus to a human
- *      readable value. If NULL, the default numerical decoder is used.
- * encoder     - An optional function to encode a signal value to be written to
- *                CAN into a byte array. If NULL, the default numerical encoder
- *                is used.
+ *				 back to CAN. Defaults to false.
+ * decoder	   - An optional function to decode a signal from the bus to a human
+ *		readable value. If NULL, the default numerical decoder is used.
+ * encoder	   - An optional function to encode a signal value to be written to
+ *				  CAN into a byte array. If NULL, the default numerical encoder
+ *				  is used.
  * received    - True if this signal has ever been received.
  * lastValue   - The last received value of the signal. If 'received' is false,
- *      this value is undefined.
+ *		this value is undefined.
+ */
 struct CanSignal {
-    struct CanMessageDefinition* message;
-    const char* genericName;
-    uint8_t bitPosition;
-    uint8_t bitSize;
-    float factor;
-    float offset;
-    float minValue;
-    float maxValue;
-    FrequencyClock frequencyClock;
-    bool sendSame;
-    bool forceSendChanged;
-    const CanSignalState* states;
-    uint8_t stateCount;
-    bool writable;
-    SignalDecoder decoder;
-    SignalEncoder encoder;
-    bool received;
-    float lastValue;
+	struct CanMessageDefinition* message;
+	const char* genericName;
+	uint8_t bitPosition;
+	uint8_t bitSize;
+	float factor;
+	float offset;
+	float minValue;
+	float maxValue;
+	FrequencyClock frequencyClock;
+	bool sendSame;
+	bool forceSendChanged;
+	const CanSignalState* states;
+	uint8_t stateCount;
+	bool writable;
+	SignalDecoder decoder;
+	SignalEncoder encoder;
+	bool received;
+	float lastValue;
+
+	struct afb_event event;
 };
 typedef struct CanSignal CanSignal;
- */
-
-class CanSignal_c {
-    private:
-        CanMessageDefinition *message;
-        const char *generic_name;
-        uint8_t bit_position;
-        uint8_t bit_size;
-        float factor;
-        float offset;
-        float min_value;
-        float max_value;
-        FrequencyClock_t clock;
-        bool send_same;
-        bool force_send_changed;
-        const CanSignalState *states;
-        uint8_t state_count;
-        bool writable;
-        SignalDecoder decoder;
-        SignalEncoder encoder;
-        bool received;
-        float last_value;
-};
 
 /* Public: The definition of a CAN message. This includes a lot of metadata, so
  * to save memory this struct should not be used for storing incoming and
@@ -219,70 +243,23 @@ class CanSignal_c {
  * id - The ID of the message.
  * format - the format of the message's ID.
  * clock - an optional frequency clock to control the output of this
- *      message, if sent raw, or simply to mark the max frequency for custom
- *      handlers to retrieve.
+ *		message, if sent raw, or simply to mark the max frequency for custom
+ *		handlers to retrieve.
  * forceSendChanged - If true, regardless of the frequency, it will send CAN
- *      message if it has changed when using raw passthrough.
+ *		message if it has changed when using raw passthrough.
  * lastValue - The last received value of the message. Defaults to undefined.
- *      This is required for the forceSendChanged functionality, as the stack
- *      needs to compare an incoming CAN message with the previous frame.
+ *		This is required for the forceSendChanged functionality, as the stack
+ *		needs to compare an incoming CAN message with the previous frame.
+ */
 struct CanMessageDefinition {
-    struct CanBus* bus;
-    uint32_t id;
-    CanMessageFormat format;
-    FrequencyClock frequencyClock;
-    bool forceSendChanged;
-    uint8_t lastValue[CAN_MESSAGE_SIZE];
+	struct CanBus* bus;
+	uint32_t id;
+	CanMessageFormat format;
+	FrequencyClock frequencyClock;
+	bool forceSendChanged;
+	uint8_t lastValue[CAN_MESSAGE_SIZE];
 };
 typedef struct CanMessageDefinition CanMessageDefinition;
- */
- class CanMessageDefinition_c {
-    private:
-        CanBus *bus
-        uint32_t id;
-        CanMessageFormat format;
-        FrequencyClock_t clock;
-        bool force_send_changed;
-        uint8_t last_value[CAN_MESSAGE_SIZE];
- };
-
-/* A compact representation of a single CAN message, meant to be used in in/out
- * buffers.
- *
- * id - The ID of the message.
- * format - the format of the message's ID.
- * data  - The message's data field.
- * length - the length of the data array (max 8).
-struct CanMessage {
-    uint32_t id;
-    CanMessageFormat format;
-    uint8_t data[CAN_MESSAGE_SIZE];
-    uint8_t length;
-};
-typedef struct CanMessage CanMessage;
-*/
-class CanMessage_c {
-    private:
-        uint32_t id;
-        CanMessageFormat format;
-        uint8_t data[CAN_MESSAGE_SIZE];
-        uint8_t length;
-
-    public:
-        uint32_t get_id();
-        int get_format();
-        uint8_t get_data();
-        uint8_t get_lenght();
-
-        void set_id(uint32_t id);
-        void set_format(CanMessageFormat format);
-        void set_data(uint8_t data);
-        void set_lenght(uint8_t length);
-
-        void convert_canfd_frame_to_CanMessage(canfd_frame frame);
-};
-
-QUEUE_DECLARE(CanMessage_c, 8);
 
 /* Private: An entry in the list of acceptance filters for each CanBus.
  *
@@ -290,13 +267,13 @@ QUEUE_DECLARE(CanMessage_c, 8);
  *
  * filter - the value for the CAN acceptance filter.
  * activeUserCount - The number of active consumers of this filter's messages.
- *      When 0, this filter can be removed.
+ *		When 0, this filter can be removed.
  * format - the format of the ID for the filter.
 struct AcceptanceFilterListEntry {
-    uint32_t filter;
-    uint8_t activeUserCount;
-    CanMessageFormat format;
-    LIST_ENTRY(AcceptanceFilterListEntry) entries;
+	uint32_t filter;
+	uint8_t activeUserCount;
+	CanMessageFormat format;
+	LIST_ENTRY(AcceptanceFilterListEntry) entries;
 };
  */
 
@@ -304,55 +281,55 @@ struct AcceptanceFilterListEntry {
 LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
 
 struct CanMessageDefinitionListEntry {
-    CanMessageDefinition definition;
-    LIST_ENTRY(CanMessageDefinitionListEntry) entries;
+	CanMessageDefinition definition;
+	LIST_ENTRY(CanMessageDefinitionListEntry) entries;
 };
 LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
  */
 
 /** Public: A parent wrapper for a particular set of CAN messages and associated
- *  CAN buses(e.g. a vehicle or program).
+ *	CAN buses(e.g. a vehicle or program).
  *
- *  index - A numerical ID for the message set, ideally the index in an array
- *      for fast lookup
- *  name - The name of the message set.
- *  busCount - The number of CAN buses defined for this message set.
- *  messageCount - The number of CAN messages (across all buses) defined for
- *      this message set.
- *  signalCount - The number of CAN signals (across all messages) defined for
- *      this message set.
- *  commandCount - The number of CanCommmands defined for this message set.
+ *	index - A numerical ID for the message set, ideally the index in an array
+ *		for fast lookup
+ *	name - The name of the message set.
+ *	busCount - The number of CAN buses defined for this message set.
+ *	messageCount - The number of CAN messages (across all buses) defined for
+ *		this message set.
+ *	signalCount - The number of CAN signals (across all messages) defined for
+ *		this message set.
+ *	commandCount - The number of CanCommmands defined for this message set.
 typedef struct {
-    uint8_t index;
-    const char* name;
-    uint8_t busCount;
-    unsigned short messageCount;
-    unsigned short signalCount;
-    unsigned short commandCount;
+	uint8_t index;
+	const char* name;
+	uint8_t busCount;
+	unsigned short messageCount;
+	unsigned short signalCount;
+	unsigned short commandCount;
 } CanMessageSet;
  */
 class CanMessageSet_c {
-    private:
-        uint8_t index;
-        const char * name;
-        uint8_t busCount;
-        unsigned short messageCount;
-        unsigned short signalCount;
-        unsigned short commandCount;
+	private:
+		uint8_t index;
+		const char * name;
+		uint8_t busCount;
+		unsigned short messageCount;
+		unsigned short signalCount;
+		unsigned short commandCount;
 };
 
 /* Public: The type signature for a function to handle a custom OpenXC command.
  *
  * name - the name of the received command.
  * value - the value of the received command, in a DynamicField. The actual type
- *      may be a number, string or bool.
+ *		may be a number, string or bool.
  * event - an optional event from the received command, in a DynamicField. The
- *      actual type may be a number, string or bool.
+ *		actual type may be a number, string or bool.
  * signals - The list of all signals.
  * signalCount - The length of the signals array.
  */
 typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
-        openxc_DynamicField* event, CanSignal* signals, int signalCount);
+		openxc_DynamicField* event, CanSignal* signals, int signalCount);
 
 /* Public: The structure to represent a supported custom OpenXC command.
  *
@@ -369,24 +346,24 @@ typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
  *
  * genericName - The name of the command.
  * handler - An function to process the received command's data and perform some
- *      action.
+ *		action.
 typedef struct {
-    const char* genericName;
-    CommandHandler handler;
+	const char* genericName;
+	CommandHandler handler;
 } CanCommand;
  */
 
 class CanCommand_c {
-    private:
-        const char* genericName;
-        CommandHandler handler;
+	private:
+		const char* genericName;
+		CommandHandler handler;
 };
 
 /* Pre initialize actions made before CAN bus initialization
  *
  * bus - A CanBus struct defining the bus's metadata
  * writable - configure the controller in a writable mode. If false, it will be
- *      configured as "listen only" and will not allow writes or even CAN ACKs.
+ *		configured as "listen only" and will not allow writes or even CAN ACKs.
  * buses - An array of all CAN buses.
  * busCount - The length of the buses array.
  */
@@ -397,7 +374,7 @@ void pre_initialize(CanBus* bus, bool writable, CanBus* buses, const int busCoun
  *
  * bus - A CanBus struct defining the bus's metadata
  * writable - configure the controller in a writable mode. If false, it will be
- *      configured as "listen only" and will not allow writes or even CAN ACKs.
+ *		configured as "listen only" and will not allow writes or even CAN ACKs.
  * buses - An array of all CAN buses.
  * busCount - The length of the buses array.
  */
diff --git a/can_decoder.cpp b/can_decoder.cpp
index 74694c97..5de6eda9 100644
--- a/can_decoder.cpp
+++ b/can_decoder.cpp
@@ -7,7 +7,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *   http://www.apache.org/licenses/LICENSE-2.0
+ *	 http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -25,16 +25,16 @@
 #include "can-utils.h"
 #include "openxc.pb.h"
 
-void decode_can_message(afb_binding_interface *interface, std::queue <CanMessage_t>& can_message_q, std::queue <openxc_VehicleMessage>& VehicleMessage_q)
+void decode_can_message(CanBus_c *can_bus)
 {
-    canfd_frame canfd_frame;
+	CanMessage_c can_message;
 
-    while(true)
-    {
-        if(! canfd_frame_queue.empty())
-        {
-            canfd_frame = canfd_frame_queue.front();
-            canfd_frame_queue.pop();
-        }
-    }
+	while(true)
+	{
+		if(! can_bus->can_message_q.empty())
+		{
+			can_message = can_bus->can_message_q.front();
+			can_bus->can_message_q.pop();
+		}
+	}
 }
diff --git a/can_event_push.cpp b/can_event_push.cpp
index 429abe48..b08619b8 100644
--- a/can_event_push.cpp
+++ b/can_event_push.cpp
@@ -7,7 +7,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *   http://www.apache.org/licenses/LICENSE-2.0
+ *	 http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -25,14 +25,14 @@
 #include "can-utils.h"
 #include "openxc.pb.h"
 
-void can_event_push(afb_binding_interface *interface, std::queue <openxc_VehicleMessage>& vehicle_message_q)
+void can_event_push(CanBus_c *can_bus)
 {
-    while(true)
-    {
-        if(! vehicle_message_q.empty())
-        {
-            vehicle_message = vehicle_message_q.front();
-            vehicle_message_q.pop();
-        }
-    }
+	while(true)
+	{
+		if(! can_bus->vehicle_message_q.empty())
+		{
+			vehicle_message = can_bus->vehicle_message_q.front();
+			can_bus->vehicle_message_q.pop();
+		}
+	}
 }
diff --git a/can_reader.cpp b/can_reader.cpp
index 1e6429ec..d9b3e671 100644
--- a/can_reader.cpp
+++ b/can_reader.cpp
@@ -7,7 +7,7 @@
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *   http://www.apache.org/licenses/LICENSE-2.0
+ *	 http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -23,44 +23,44 @@
 
 #include "can-utils.h"
 
-void can_reader(afb_binding_interface *interface, int socket, std::queue <CanMessage_t>& can_message_q)
+void can_reader(CanBus_c *can_bus))
 {
-    ssize_t nbytes;
+	ssize_t nbytes;
 	int maxdlen;
-    CanMessage_t can_message;
+	CanMessage_c can_message;
+	canfd_frame canfd_frame;
 
 	/* Test that socket is really opened */
-	if ( socket < 0)
+	if ( can_bus->socket < 0)
 	{
 		ERROR(interface, "read_can: Socket unavailable");
 		return -1;
 	}
 
-    while(true)
-    {
-    	nbytes = read(socket, &canfd_frame, CANFD_MTU);
-
-        switch(nbytes)
-        {
-            case CANFD_MTU:
-                DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
-                maxdlen = CANFD_MAX_DLEN;
-                break;
-            case CAN_MTU:
-                DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
-                maxdlen = CAN_MAX_DLEN;
-                break;
-            default:
-                if (errno == ENETDOWN)
-                    ERROR(interface, "read_can: %s interface down", device);
-                
-                ERROR(interface, "read_can: Error reading CAN bus");
-                return -2;
-        }
+	while(true)
+	{
+		nbytes = read(can_bus->socket, &canfd_frame, CANFD_MTU);
 
-        can_message.convert_canfd_frame_to_CanMessage(canfd_frame);
+		switch(nbytes)
+		{
+			case CANFD_MTU:
+				DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
+				maxdlen = CANFD_MAX_DLEN;
+				break;
+			case CAN_MTU:
+				DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
+				maxdlen = CAN_MAX_DLEN;
+				break;
+			default:
+				if (errno == ENETDOWN)
+					ERROR(interface, "read_can: %s interface down", device);
+				
+				ERROR(interface, "read_can: Error reading CAN bus");
+				return -2;
+		}
 
+		can_message.convert_from_canfd_frame(canfd_frame);
 
-        can_message_q.push(can_message);
-    }
-}
\ No newline at end of file
+		can_message_q.push(can_message);
+	}
+}