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-rw-r--r--low-can-binding/binding/low-can-cb.cpp22
-rw-r--r--low-can-binding/binding/low-can-subscription.cpp18
-rw-r--r--low-can-binding/binding/low-can-subscription.hpp4
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);