diff options
| -rw-r--r-- | low-can-binding/binding/low-can-cb.cpp | 22 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.cpp | 18 | ||||
| -rw-r--r-- | low-can-binding/binding/low-can-subscription.hpp | 4 |
3 files changed, 24 insertions, 20 deletions
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp index 750baeff..6b869073 100644 --- a/low-can-binding/binding/low-can-cb.cpp +++ b/low-can-binding/binding/low-can-cb.cpp @@ -70,12 +70,12 @@ void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std s.erase(it); } -static void push_n_notify(const can_message_t& cm) +static void push_n_notify(std::shared_ptr<can_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(cm); + cbm.push_new_can_message(*m); } cbm.get_new_can_message_cv().notify_one(); } @@ -83,23 +83,27 @@ static void push_n_notify(const can_message_t& cm) 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) { - std::shared_ptr<can_message_t> cm; - utils::socketcan_bcm_t& s = can_subscription->get_socket(); - cm = s.read_message(); + std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket(); + std::shared_ptr<can_message_t> message = s->read_message(); // Sure we got a valid CAN message ? - if(! cm->get_id() == 0 && ! cm->get_length() == 0) - {push_n_notify(*cm);} + if (! message->get_id() == 0 && ! message->get_length() == 0) + { + 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(); + can_subscription->get_socket()->close(); } + return 0; } @@ -170,7 +174,7 @@ static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscr struct sd_event_source* event_source = nullptr; return ( sd_event_add_io(afb_daemon_get_event_loop(), &event_source, - can_subscription->get_socket().socket(), + can_subscription->get_socket()->socket(), EPOLLIN, read_message, can_subscription.get())); diff --git a/low-can-binding/binding/low-can-subscription.cpp b/low-can-binding/binding/low-can-subscription.cpp index d8149b64..09e9b807 100644 --- a/low-can-binding/binding/low-can-subscription.cpp +++ b/low-can-binding/binding/low-can-subscription.cpp @@ -49,7 +49,7 @@ low_can_subscription_t& low_can_subscription_t::operator=(const low_can_subscrip low_can_subscription_t::~low_can_subscription_t() { - socket_.close(); + socket_->close(); } low_can_subscription_t::operator bool() const @@ -200,7 +200,7 @@ float low_can_subscription_t::get_max() const return event_filter_.max; } -utils::socketcan_bcm_t& low_can_subscription_t::get_socket() +std::shared_ptr<utils::socketcan_t> low_can_subscription_t::get_socket() { return socket_; } @@ -229,12 +229,12 @@ int low_can_subscription_t::open_socket(const std::string& bus_name) if(! socket_) { if( can_signal_ != nullptr) - {ret = socket_.open(can_signal_->get_message()->get_bus_device_name());} + {ret = socket_->open(can_signal_->get_message()->get_bus_device_name());} else if (! diagnostic_message_ .empty()) - {ret = socket_.open(application_t::instance().get_diagnostic_manager().get_bus_device_name());} + {ret = socket_->open(application_t::instance().get_diagnostic_manager().get_bus_device_name());} else if ( ! bus_name.empty()) - { ret = socket_.open(bus_name);} - index_ = (int)socket_.socket(); + { ret = socket_->open(bus_name);} + index_ = (int)socket_->socket(); } return ret; } @@ -337,7 +337,7 @@ int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg) // else monitor all standard 8 CAN OBD2 ID response. if(bcm_msg.msg_head.can_id != OBD2_FUNCTIONAL_BROADCAST_ID) { - socket_.write_message(bcm_msg); + socket_->write_message(bcm_msg); if(! socket_) return -1; } @@ -347,7 +347,7 @@ int low_can_subscription_t::create_rx_filter(utils::bcm_msg& bcm_msg) { bcm_msg.msg_head.can_id = OBD2_FUNCTIONAL_RESPONSE_START + i; - socket_.write_message(bcm_msg); + socket_->write_message(bcm_msg); if(! socket_) return -1; } @@ -384,7 +384,7 @@ int low_can_subscription_t::tx_send(struct canfd_frame& cfd, const std::string& if(open_socket(bus_name) < 0) {return -1;} - socket_.write_message(bcm_msg); + socket_->write_message(bcm_msg); if(! socket_) return -1; diff --git a/low-can-binding/binding/low-can-subscription.hpp b/low-can-binding/binding/low-can-subscription.hpp index 8af0aa19..ded600c5 100644 --- a/low-can-binding/binding/low-can-subscription.hpp +++ b/low-can-binding/binding/low-can-subscription.hpp @@ -54,7 +54,7 @@ private: std::shared_ptr<can_signal_t> can_signal_; ///< can_signal_ - the CAN signal subscribed std::vector<std::shared_ptr<diagnostic_message_t> > diagnostic_message_; ///< diagnostic_message_ - diagnostic messages meant to receive OBD2 /// responses. Normal diagnostic request and response are not tested for now. - utils::socketcan_bcm_t socket_; ///< socket_ - socket_ that receives CAN messages. + std::shared_ptr<utils::socketcan_bcm_t> socket_; ///< socket_ - socket_ that receives CAN messages. int set_event(); @@ -83,7 +83,7 @@ public: float get_frequency() const; float get_min() const; float get_max() const; - utils::socketcan_bcm_t& get_socket(); + std::shared_ptr<utils::socketcan_t> get_socket(); void set_frequency(float freq); void set_min(float min); |