diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can/can-bus.hpp')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 94 |
1 files changed, 0 insertions, 94 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp deleted file mode 100644 index a76d3e87..00000000 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ /dev/null @@ -1,94 +0,0 @@ -/* - * Copyright (C) 2015, 2016, 2017 "IoT.bzh" - * Author "Romain Forlot" <romain.forlot@iot.bzh> - * Author "Loïc Collignon" <loic.collignon@iot.bzh> - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#pragma once - -#include <utility> -#include <mutex> -#include <queue> -#include <thread> -#include <linux/can.h> -#include <condition_variable> - -#include "openxc.pb.h" -#include "can-message.hpp" -#include "../utils/config-parser.hpp" -#include "../binding/low-can-hat.hpp" -#include "../binding/low-can-subscription.hpp" - -// TODO actual max is 32 but dropped to 24 for memory considerations -#define MAX_ACCEPTANCE_FILTERS 24 -// TODO this takes up a ton of memory -#define MAX_DYNAMIC_MESSAGE_COUNT 12 - -#define CAN_ACTIVE_TIMEOUT_S 30 - -class diagnostic_manager_t; - -/// @brief Object used to handle decoding and manage event queue to be pushed. -/// -/// This object is also used to initialize can_bus_dev_t object after reading -/// json conf file describing the CAN devices to use. Thus, those object will read -/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. -/// -/// That queue will be later used to be decoded and pushed to subscribers. -class can_bus_t -{ -private: - utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects. - - 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, std::map<int, std::shared_ptr<low_can_subscription_t> >& s); - void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s); - - void can_decode_message(); - std::thread th_decoding_; ///< thread that'll handle decoding a can frame - bool is_decoding_ = false; ///< boolean member controling thread while loop - - void can_event_push(); - std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers - bool is_pushing_ = false; ///< boolean member controling thread while loop - - std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read - std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue. - std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded - - std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_ - std::mutex decoded_can_message_mutex_; ///< mutex protecting the vehicle_message_q_ queue. - std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed - - std::vector<std::pair<std::string, std::string> > can_devices_; ///< can_devices_ - holds a mapping between logical CAN devices names and linux CAN devices names. -public: - explicit can_bus_t(utils::config_parser_t conf_file); - can_bus_t(can_bus_t&&); - - void set_can_devices(); - int get_can_device_index(const std::string& bus_name) const; - const std::string get_can_device_name(const std::string& id_name) const; - - void start_threads(); - void stop_threads(); - - const can_message_t next_can_message(); - void push_new_can_message(const can_message_t& can_msg); - std::mutex& get_can_message_mutex(); - std::condition_variable& get_new_can_message_cv(); - - std::pair<int, openxc_VehicleMessage> next_vehicle_message(); - void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg); -}; |