diff options
| -rw-r--r-- | low-can-binding/binding/low-can-hat.cpp | 88 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-hat.hpp | 2 |
2 files changed, 89 insertions, 1 deletions
diff --git a/low-can-binding/binding/low-can-hat.cpp b/low-can-binding/binding/low-can-hat.cpp new file mode 100644 index 00000000..26795f40 --- /dev/null +++ b/low-can-binding/binding/low-can-hat.cpp @@ -0,0 +1,88 @@ +#include <mutex> +#include <systemd/sd-event.h> + +#include "application.hpp" +#include "../utils/signals.hpp" +#include "low-can-hat.hpp" +#include "../can/message/message.hpp" +#include "../can/can-bus.hpp" + + + +///****************************************************************************** +/// +/// SystemD event loop Callbacks +/// +///*******************************************************************************/ + +static void push_n_notify(std::shared_ptr<message_t> m) +{ + can_bus_t& cbm = application_t::instance().get_can_bus_manager(); + { + std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex()); + cbm.push_new_can_message(m); + } + cbm.get_new_can_message_cv().notify_one(); +} + +void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) +{ + bool is_permanent_recurring_request = false; + + if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr) + { + DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request(); + active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req); + if( adr != nullptr) + { + is_permanent_recurring_request = adr->get_permanent(); + + if(! is_permanent_recurring_request) + application_t::instance().get_diagnostic_manager().cleanup_request(adr, true); + } + } + + if(! is_permanent_recurring_request) + on_no_clients(can_subscription, s); +} + + +void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) +{ + auto it = s.find(can_subscription->get_index()); + s.erase(it); +} + +int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata) +{ + + low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata; + + + if ((revents & EPOLLIN) != 0) + { + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + if(can_subscription->get_index() != -1) + { + std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket(); + if(s->socket() && s->socket() != -1) + { + std::shared_ptr<message_t> message = s->read_message(); + + // Sure we got a valid CAN message ? + if (! message->get_id() == 0 && ! message->get_length() == 0 && message->get_flags() & INVALID_FLAG) + push_n_notify(message); + } + } + } + + // check if error or hangup + if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) + { + sd_event_source_unref(event_source); + can_subscription->get_socket()->close(); + } + + return 0; +} diff --git a/low-can-binding/binding/low-can-hat.hpp b/low-can-binding/binding/low-can-hat.hpp index 131b61f2..e748c960 100644 --- a/low-can-binding/binding/low-can-hat.hpp +++ b/low-can-binding/binding/low-can-hat.hpp @@ -24,7 +24,7 @@ #include <memory> #include <systemd/sd-event.h> #include <cctype> - +#include <ctl-config.h> #include <afb/afb-binding> class low_can_subscription_t; |