diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-bus.cpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 51 |
1 files changed, 50 insertions, 1 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 6e74b86a..6f9e78d9 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -47,6 +47,49 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_; +/// @brief Listen for all device sockets and fill can_messages_queue with them. +/// Reading blocks until message arrive on listened sockets. +/// +/// @return 0 if ok -1 if not +int can_bus_t::can_reader() +{ + fd_set rfds; + int sock_max = INVALID_SOCKET; + + FD_ZERO(&rfds); + + for(auto& can_dev : can_devices_) + { + FD_SET(can_dev.second->get_socket().socket(), &rfds); + if (sock_max < can_dev.second->get_socket().socket()) + sock_max = can_dev.second->get_socket().socket(); + } + + int ret; + while(is_reading_) + { + ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr); + + if(ret == -1) + perror("select()"); + else if(ret > 0) + { + for(const auto& s: can_devices_) + { + if(FD_ISSET(s.second->get_socket().socket(), &rfds)) + { + can_message_t msg; + s.second->get_socket() >> msg; + push_new_can_message(msg); + } + } + } + else + printf("Timeout\n"); + } + return 0; +} + /// @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. @@ -199,6 +242,11 @@ void can_bus_t::can_event_push() /// and push subscribed events. void can_bus_t::start_threads() { + is_reading_ = true; + th_reading_ = std::thread(&can_bus_t::can_reader, this); + if(!th_reading_.joinable()) + is_reading_ = false; + is_decoding_ = true; th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); if(!th_decoding_.joinable()) @@ -215,6 +263,7 @@ void can_bus_t::start_threads() /// they'll finish their job. void can_bus_t::stop_threads() { + is_reading_ = false; is_decoding_ = false; is_pushing_ = false; } @@ -248,7 +297,7 @@ int can_bus_t::init_can_dev() can_bus_t::can_devices_[device]->configure(); DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__); NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str()); - can_bus_t::can_devices_[device]->start_reading(*this); + //can_bus_t::can_devices_[device]->start_reading(*this); i++; } else |