diff options
| -rw-r--r-- | src/can-bus.cpp | 86 |
1 files changed, 40 insertions, 46 deletions
diff --git a/src/can-bus.cpp b/src/can-bus.cpp index 652a4bc5..b35bc31c 100644 --- a/src/can-bus.cpp +++ b/src/can-bus.cpp @@ -51,8 +51,7 @@ can_bus_t::can_bus_t(int conf_file) void can_bus_t::can_decode_message() { can_message_t can_message; - std::vector <CanSignal> signals; - std::vector <CanSignal>::iterator signals_i; + std::vector <CanSignal*> signals; openxc_VehicleMessage vehicle_message; openxc_DynamicField search_key, decoded_message; @@ -60,39 +59,36 @@ void can_bus_t::can_decode_message() while(is_decoding_) { + std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); + new_can_message_.wait(can_message_lock); + can_message = next_can_message(); + + /* First we have to found which CanSignal it is */ + search_key = build_DynamicField((double)can_message.get_id()); + signals.clear(); + find_can_signals(search_key, signals); + + /* Decoding the message ! Don't kill the messenger ! */ + for(auto& sig : signals) { - std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); - new_can_message_.wait(can_message_lock); - can_message = next_can_message(); - - /* First we have to found which CanSignal it is */ - search_key = build_DynamicField((double)can_message.get_id()); - signals = find_can_signals(search_key); - - /* Decoding the message ! Don't kill the messenger ! */ - for(auto& sig : signals) + std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); + std::map<std::string, struct afb_event>& s = get_subscribed_signals(); + + /* DEBUG message to make easier debugger STL containers... + DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name])); + DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)])); + DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name)); + DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name))); */ + if( s.find(sig->generic_name) != s.end() && afb_event_is_valid(s[sig->generic_name])) { - { - std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = get_subscribed_signals(); - - /* DEBUG message to make easier debugger STL containers... - DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name])); - DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)])); - DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name)); - DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name))); */ - if( s.find(sig.generic_name) != s.end() && afb_event_is_valid(s[sig.generic_name])) - { - decoded_message = decoder.translateSignal(sig, can_message, getSignals()); - - openxc_SimpleMessage s_message = build_SimpleMessage(sig.generic_name, decoded_message); - vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); - - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); - new_decoded_can_message_.notify_one(); - } - } + decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals()); + + openxc_SimpleMessage s_message = build_SimpleMessage(sig->generic_name, decoded_message); + vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); + + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + new_decoded_can_message_.notify_one(); } } } @@ -106,21 +102,19 @@ void can_bus_t::can_event_push() while(is_pushing_) { - { - std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - new_decoded_can_message_.wait(decoded_can_message_lock); - v_message = next_vehicle_message(); + std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + new_decoded_can_message_.wait(decoded_can_message_lock); + v_message = next_vehicle_message(); - s_message = get_simple_message(v_message); + s_message = get_simple_message(v_message); + { + std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); + std::map<std::string, struct afb_event>& s = get_subscribed_signals(); + if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) { - std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map<std::string, struct afb_event>& s = get_subscribed_signals(); - if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) - { - jo = json_object_new_object(); - jsonify_simple(s_message, jo); - afb_event_push(s[std::string(s_message.name)], jo); - } + jo = json_object_new_object(); + jsonify_simple(s_message, jo); + afb_event_push(s[std::string(s_message.name)], jo); } } } |