diff options
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 72 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 6 |
2 files changed, 42 insertions, 36 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 4113107c..84f828e0 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -45,6 +45,15 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) : conf_file_{conf_file} {} +bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription) +{ + if(is_valid(vehicle_message)) + { + return true; + } + return false; +} + /// @brief Will make the decoding operation on a classic CAN message. It will not /// handle CAN commands nor diagnostic messages that have their own method to get /// this happens. @@ -55,42 +64,36 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. -int can_bus_t::process_can_signals(const can_message_t& can_message) +void can_bus_t::process_can_signals(const can_message_t& can_message) { int subscription_id = can_message.get_sub_id(); - int processed_signals = 0; - struct utils::signals_found signals; openxc_DynamicField decoded_message; openxc_VehicleMessage vehicle_message; application_t& conf = application_t::instance(); utils::signals_manager_t& sm = utils::signals_manager_t::instance(); { - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); - // First we have to found which can_signal_t it is - std::shared_ptr<low_can_subscription_t> sig = s[subscription_id].first; + // First we have to found which can_signal_t it is + std::shared_ptr<low_can_subscription_t> sig = s[subscription_id].first; - if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second)) - { - bool send = true; - decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, conf.get_all_can_signals(), &send); - - if(send) + if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second)) { + bool send = true; + decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, conf.get_all_can_signals(), &send); openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_sig_name(), decoded_message); vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(subscription_id, vehicle_message); + if(send && apply_filter(vehicle_message, sig)) + { + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(subscription_id, vehicle_message); + DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_sig_name().c_str()); + } } - processed_signals++; - } } - - DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size()); - return processed_signals; } /// @brief Will make the decoding operation on a diagnostic CAN message.Then it find the subscribed signal @@ -101,27 +104,28 @@ int can_bus_t::process_can_signals(const can_message_t& can_message) /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. -int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) +void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) { - int processed_signals = 0; + int subscription_id = can_message.get_sub_id(); utils::signals_manager_t& sm = utils::signals_manager_t::instance(); { - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); - openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); - if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && - (s.find(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second))) - { - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(can_message.get_sub_id(), vehicle_message); - processed_signals++; - } + openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); + if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && + s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second)) + { + if (apply_filter(vehicle_message, s[subscription_id].first)) + { + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(subscription_id, vehicle_message); + DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, s[subscription_id].first->get_diag_name().c_str()); + } + } } - - return processed_signals; } /// @brief thread to decoding raw CAN messages. diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp index 1d064b2b..99d5a30f 100644 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -29,6 +29,7 @@ #include "can-message.hpp" #include "../utils/config-parser.hpp" #include "../binding/low-can-hat.hpp" +#include "../binding/low-can-cb.hpp" // TODO actual max is 32 but dropped to 24 for memory considerations #define MAX_ACCEPTANCE_FILTERS 24 @@ -51,8 +52,9 @@ class can_bus_t private: utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects. - int process_can_signals(const can_message_t& can_message); - int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message); + bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription); + void process_can_signals(const can_message_t& can_message); + void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message); void can_decode_message(); std::thread th_decoding_; ///< thread that'll handle decoding a can frame |