diff options
| -rw-r--r-- | src/can-utils.cpp | 102 | ||||
| -rw-r--r-- | src/can-utils.hpp | 72 | ||||
| -rw-r--r-- | src/can_decode_message.cpp | 41 | ||||
| -rw-r--r-- | src/can_event_push.cpp | 17 | ||||
| -rw-r--r-- | src/can_reader.cpp | 6 | ||||
| -rw-r--r-- | src/can_reader.hpp | 2 | ||||
| -rw-r--r-- | src/timer.cpp | 4 |
7 files changed, 121 insertions, 123 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index a156df44..868eb235 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -232,10 +232,10 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface) * @brief start reading threads and set flag is_running_ * */ -void can_bus_dev_t::start_reading() +void can_bus_dev_t::start_reading(can_bus_t& can_bus) { - th_reading_ = std::thread(can_reader, std::ref(*this)); - is_running_ = true; is_running_ = true; + th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus)); + is_running_ = true; } /* @@ -247,51 +247,6 @@ bool can_bus_dev_t::is_running() } /** - * @brief: Get a can_message_t from can_message_q and return it - * then point to the next can_message_t in queue. - * - * @return the next queue element or NULL if queue is empty. - */ -can_message_t can_bus_dev_t::next_can_message(const struct afb_binding_interface* interface) -{ - can_message_t can_msg(interface); - - if(!can_message_q_.empty()) - { - can_msg = can_message_q_.front(); - can_message_q_.pop(); - DEBUG(interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length()); - return can_msg; - } - - NOTICE(interface, "next_can_message: End of can message queue"); - has_can_message_ = false; - return can_msg; -} - -/** - * @brief Append a new element to the can message queue and set - * has_can_message_ boolean to true - * - * @params[const can_message_t& can_msg] the can_message_t to append - * - */ -void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg) -{ - can_message_q_.push(can_msg); -} - -/** - * @brief Flag that let you know when can message queue is exhausted - * - * @return[bool] has_can_message_ bool - */ -bool can_bus_dev_t::has_can_message() const -{ - return has_can_message_; -} - -/** * @brief Send a can message from a can_message_t object. * * params[const can_message_t& can_msg] the can message object to send @@ -328,8 +283,8 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_bin * *********************************************************************************/ -can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file) - : interface_{itf}, conf_file_{conf_file} +can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file) + : interface_{interface}, conf_file_{conf_file} { } @@ -366,7 +321,7 @@ int can_bus_t::init_can_dev() { can_bus_dev_t can_bus_device_handler(device); can_bus_device_handler.open(interface_); - can_bus_device_handler.start_reading(); + can_bus_device_handler.start_reading(std::ref(*this)); i++; } @@ -421,6 +376,51 @@ std::vector<std::string> can_bus_t::read_conf() } /** + * @brief: Get a can_message_t from can_message_q and return it + * then point to the next can_message_t in queue. + * + * @return the next queue element or NULL if queue is empty. + */ +can_message_t can_bus_t::next_can_message() +{ + can_message_t can_msg(interface_); + + if(!can_message_q_.empty()) + { + can_msg = can_message_q_.front(); + can_message_q_.pop(); + DEBUG(interface_, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length()); + return can_msg; + } + + NOTICE(interface_, "next_can_message: End of can message queue"); + has_can_message_ = false; + return can_msg; +} + +/** + * @brief Append a new element to the can message queue and set + * has_can_message_ boolean to true + * + * @params[const can_message_t& can_msg] the can_message_t to append + * + */ +void can_bus_t::push_new_can_message(const can_message_t& can_msg) +{ + can_message_q_.push(can_msg); +} + +/** + * @brief Flag that let you know when can message queue is exhausted + * + * @return[bool] has_can_message_ bool + */ +bool can_bus_t::has_can_message() const +{ + return has_can_message_; +} + +/** * @brief: Get a VehicleMessage from vehicle_message_q and return it * then point to the next VehicleMessage in queue. * diff --git a/src/can-utils.hpp b/src/can-utils.hpp index c6b23a29..c709af43 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -140,41 +140,6 @@ class can_message_t { }; /** - * @brief Object representing a can device. Handle opening, closing and reading on the - * socket. This is the low level object to be use by can_bus_t. - * - * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. - */ -class can_bus_dev_t { - private: - std::string device_name_; - int can_socket_; - bool is_fdmode_on_; - struct sockaddr_can txAddress_; - - bool has_can_message_; - std::queue <can_message_t> can_message_q_; - - std::thread th_reading_; - bool is_running_; - - public: - can_bus_dev_t(const std::string& dev_name); - - int open(const struct afb_binding_interface* interface); - int close(); - bool is_running(); - void start_reading(); - canfd_frame read(const struct afb_binding_interface *interface); - - can_message_t next_can_message(const struct afb_binding_interface* interface); - void push_new_can_message(const can_message_t& can_msg); - bool has_can_message() const; - - int send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface); -}; - -/** * @brief Object used to handle decoding and manage event queue to be pushed. * * @params[in] interface_ - afb_binding_interface pointer to the binder. Used to log messages @@ -188,6 +153,9 @@ class can_bus_t { std::thread th_decoding_; std::thread th_pushing_; + bool has_can_message_; + std::queue <can_message_t> can_message_q_; + bool has_vehicle_message_; std::queue <openxc_VehicleMessage> vehicle_message_q_; @@ -197,12 +165,44 @@ class can_bus_t { std::vector<std::string> read_conf(); void start_threads(); + + can_message_t next_can_message(); + void push_new_can_message(const can_message_t& can_msg); + bool has_can_message() const; openxc_VehicleMessage next_vehicle_message(); void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); bool has_vehicle_message() const; }; +/** + * @brief Object representing a can device. Handle opening, closing and reading on the + * socket. This is the low level object to be use by can_bus_t. + * + * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. + */ +class can_bus_dev_t { + private: + std::string device_name_; + int can_socket_; + bool is_fdmode_on_; + struct sockaddr_can txAddress_; + + std::thread th_reading_; + bool is_running_; + + public: + can_bus_dev_t(const std::string& dev_name); + + int open(const struct afb_binding_interface* interface); + int close(); + bool is_running(); + void start_reading(can_bus_t& can_bus); + canfd_frame read(const struct afb_binding_interface *interface); + + int send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface); +}; + /** * @brief A state encoded (SED) signal's mapping from numerical values to * OpenXC state names. @@ -399,6 +399,6 @@ void logBusStatistics(can_bus_dev_t* buses, const int busCount); /** * @brief Function representing thread activated by can bus objects */ -void can_reader(can_bus_dev_t& can_bus); +void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus); void can_decode_message(can_bus_t& can_bus); void can_event_push(can_bus_t& can_bus);
\ No newline at end of file diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp index 46b2977f..51993b80 100644 --- a/src/can_decode_message.cpp +++ b/src/can_decode_message.cpp @@ -27,31 +27,30 @@ void can_decode_message(can_bus_t &can_bus) openxc_DynamicField search_key, ret; bool send = true; - decoder_t decoder(); + decoder_t decoder; - while(true) + while(can_bus.has_can_message()) { - if(can_message = can_bus.next_can_message(interface)) - { - /* First we have to found which CanSignal is */ - search_key = build_DynamicField((double)can_message.get_id()) - signals = find_can_signals(search_key); + can_message = can_bus.next_can_message(); + + /* First we have to found which CanSignal 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(const auto& sig : signals) + { + subscribed_signals_i = subscribed_signals.find(sig.genericName); - /* Decoding the message ! Don't kill the messenger ! */ - for(const auto& sig : signals) - { - subscribed_signals_i = subscribed_signals.find(sig.genericName); - - if(subscribed_signals_i != subscribed_signals.end() && - afb_event_is_valid(subscribed_signals_i->second)) - { - ret = decoder.decodeSignal(sig, can_message, getSignals(), &send); + if(subscribed_signals_i != subscribed_signals.end() && + afb_event_is_valid(subscribed_signals_i->second)) + { + ret = decoder.decodeSignal(sig, can_message, getSignals(), &send); + + openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, ret); - s_message = build_SimpleMessage(sig.genericName, ret); - - vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); - vehicle_message_q.push(vehicle_message); - } + vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); + can_bus.push_new_vehicle_message(vehicle_message); } } } diff --git a/src/can_event_push.cpp b/src/can_event_push.cpp index 9251da65..07ae8d3c 100644 --- a/src/can_event_push.cpp +++ b/src/can_event_push.cpp @@ -22,16 +22,13 @@ void can_event_push(can_bus_t& can_bus) { openxc_VehicleMessage v_message; openxc_SimpleMessage s_message; - iterator it_event; - - while(true) + + while(can_bus.has_vehicle_message()) { - if(v_message = can_bus->next_vehicle_message()) - { - s_message = get_simple_message(v_msg); - const auto& it_event = subscribed_signals.find(s_message.name); - if(! it_event->end() && afb_event_is_valid(it_event->second)) - afb_event_push(it_event->second, jsonify_simple(s_message)); - } + v_message = can_bus.next_vehicle_message(); + s_message = get_simple_message(v_message); + const auto& it_event = subscribed_signals.find(s_message.name); + if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second)) + afb_event_push(it_event->second, jsonify_simple(s_message)); } } diff --git a/src/can_reader.cpp b/src/can_reader.cpp index 6fc1e740..4be15469 100644 --- a/src/can_reader.cpp +++ b/src/can_reader.cpp @@ -18,13 +18,13 @@ #include "can_reader.hpp" -void can_reader(can_bus_dev_t &can_bus) +void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus) { can_message_t can_message(interface); - while(can_bus.is_running()) + while(can_bus_dev.is_running()) { - can_message.convert_from_canfd_frame(can_bus.read(interface)); + can_message.convert_from_canfd_frame(can_bus_dev.read(interface)); can_bus.push_new_can_message(can_message); } }
\ No newline at end of file diff --git a/src/can_reader.hpp b/src/can_reader.hpp index 813e7b70..2e33897d 100644 --- a/src/can_reader.hpp +++ b/src/can_reader.hpp @@ -21,4 +21,4 @@ #include "can-utils.hpp" #include "low-can-binding.hpp" -void can_reader(can_bus_dev_t &can_bus);
\ No newline at end of file +void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
\ No newline at end of file diff --git a/src/timer.cpp b/src/timer.cpp index 70ce2b81..b0ccb628 100644 --- a/src/timer.cpp +++ b/src/timer.cpp @@ -14,7 +14,9 @@ * See the License for the specific language governing permissions and * limitations under the License. */ - + +#include "timer.hpp" + inline unsigned long systemTimeMs() { struct timeb t_msec; |