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-rw-r--r--src/can-utils.cpp70
-rw-r--r--src/can-utils.h26
2 files changed, 46 insertions, 50 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp
index f10b9689..16e18b4b 100644
--- a/src/can-utils.cpp
+++ b/src/can-utils.cpp
@@ -24,9 +24,8 @@
*********************************************************************************/
CanBus_c::CanBus_c(afb_binding_interface *itf, const std:string& dev_name)
+ : interface{itf}, deviceName{dev_name}
{
- interface = itf;
- deviceName = dev_name;
}
int CanBus_c::open()
@@ -36,10 +35,10 @@ int CanBus_c::open()
struct timeval timeout = {1, 0};
DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
- if (socket >= 0)
- close(socket);
+ if (can_socket_ >= 0)
+ return 0;
- socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+ can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (socket < 0)
{
ERROR(interface, "open_can_dev: socket could not be created");
@@ -47,9 +46,9 @@ int CanBus_c::open()
else
{
/* Set timeout for read */
- setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+ ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
/* try to switch the socket into CAN_FD mode */
- if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+ if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
{
NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
is_fdmode_on = false;
@@ -58,8 +57,8 @@ int CanBus_c::open()
}
/* Attempts to open a socket to CAN bus */
- strcpy(ifr.ifr_name, device);
- if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
+ ::strcpy(ifr.ifr_name, device);
+ if(ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
ERROR(interface, "open_can_dev: ioctl failed");
else
{
@@ -67,35 +66,32 @@ int CanBus_c::open()
txAddress.can_ifindex = ifr.ifr_ifindex;
/* And bind it to txAddress */
- if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
+ if (::bind(can_socket_, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
{
ERROR(interface, "open_can_dev: bind failed");
}
else
{
- fcntl(socket, F_SETFL, O_NONBLOCK);
+ ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
return 0;
}
}
- close(socket);
- socket = -1;
+ close();
}
return -1;
}
int CanBus_c::close()
{
- close(socket);
- socket = -1;
+ ::close(can_socket_);
+ can_socket_ = -1;
}
void CanBus_c::start_threads()
{
- 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_q);
- th_pushing = std::thread(can_event_push, interface, 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_q_);
+ th_pushing_ = std::thread(can_event_push, interface, can_message_q_);
}
/*
@@ -108,22 +104,22 @@ int CanBus_c::send_can_message(CanMessage_c can_msg)
f = can_msg.convert_to_canfd_frame();
- if(socket >= 0)
+ if(can_socket_ >= 0)
{
- nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0,
+ nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
(struct sockaddr*)&txAddress, sizeof(txAddress));
if (nbytes == -1)
{
- ERROR(interface, "send_can_message: Sending CAN frame failed.");
+ 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();
+ ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
+ open();
}
return 0;
}
@@ -136,10 +132,10 @@ int CanBus_c::send_can_message(CanMessage_c can_msg)
*/
CanMessage_c* CanBus_c::next_can_message()
{
- if(! can_message_q.empty())
+ if(! can_message_q_.empty())
{
- CanMessage_c can_msg = can_message_q.front();
- can_message_q.pop()
+ CanMessage_c can_msg = can_message_q_.front();
+ can_message_q_.pop()
return &can_msg;
}
@@ -148,7 +144,7 @@ CanMessage_c* CanBus_c::next_can_message()
void CanBus_c::insert_new_can_message(CanMessage_c *can_msg)
{
- can_message_q.push(can_msg);
+ can_message_q_.push(can_msg);
}
/*
@@ -159,10 +155,10 @@ void CanBus_c::insert_new_can_message(CanMessage_c *can_msg)
*/
openxc_VehicleMessage* CanBus_c::next_vehicle_message()
{
- if(! vehicle_message_q.empty())
+ if(! vehicle_message_q_.empty())
{
- openxc_VehicleMessage v_msg = vehicle_message_q.front();
- vehicle_message_q.pop()
+ openxc_VehicleMessage v_msg = vehicle_message_q_.front();
+ vehicle_message_q_.pop();
return &v_msg;
}
@@ -171,7 +167,7 @@ openxc_VehicleMessage* CanBus_c::next_vehicle_message()
void CanBus_c::insert_new_vehicle_message(openxc_VehicleMessage *v_msg)
{
- vehicle_message_q.push(v_msg);
+ vehicle_message_q_.push(v_msg);
}
/********************************************************************************
*
@@ -179,21 +175,21 @@ void CanBus_c::insert_new_vehicle_message(openxc_VehicleMessage *v_msg)
*
*********************************************************************************/
-uint32_t CanMessage_c::get_id()
+uint32_t CanMessage_c::get_id() const
{
return id;
}
-int CanMessage_c::get_format()
+int CanMessage_c::get_format() const
{
return format;
}
-uint8_t CanMessage_c::get_data()
+uint8_t CanMessage_c::get_data() const
{
return data;
}
-uint8_t CanMessage_c::get_lenght()
+uint8_t CanMessage_c::get_lenght() const
{
return lenght;
}
diff --git a/src/can-utils.h b/src/can-utils.h
index 1e566a52..04303e32 100644
--- a/src/can-utils.h
+++ b/src/can-utils.h
@@ -87,21 +87,21 @@ typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
*/
class CanBus_c {
private:
- afb_binding_interface *interface;
+ afb_binding_interface *interface_;
/* Got from conf file */
- std::string deviceName;
+ std::string device_name;
- int socket;
- bool is_fdmode_on;
+ int can_socket_;
+ 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> vehicle_message_q;
+ std::queue <CanMessage_c> can_message_q_;
+ std::queue <openxc_VehicleMessage> vehicle_message_q_;
public:
int open();
@@ -140,10 +140,10 @@ class CanMessage_c {
uint8_t length;
public:
- uint32_t get_id();
- int get_format();
- uint8_t get_data();
- uint8_t get_lenght();
+ uint32_t get_id() const;
+ int get_format() const;
+ uint8_t get_data() const;
+ uint8_t get_lenght() const;
void set_id(uint32_t id);
void set_format(CanMessageFormat format);