diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 93 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 6 |
2 files changed, 48 insertions, 51 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 5e7ac27d..64b02465 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -68,33 +68,27 @@ bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std:: /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. -void can_bus_t::process_can_signals(const can_message_t& can_message) +void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) { int subscription_id = can_message.get_sub_id(); openxc_DynamicField decoded_message; openxc_VehicleMessage vehicle_message; - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - { - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); + // First we have to found which can_signal_t it is + std::shared_ptr<low_can_subscription_t> sig = s[subscription_id]; - // First we have to found which can_signal_t it is - std::shared_ptr<low_can_subscription_t> sig = s[subscription_id]; + if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) + { + bool send = true; + decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send); + openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); + vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); - if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) + if(send && apply_filter(vehicle_message, sig)) { - bool send = true; - decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send); - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); - - if(send && apply_filter(vehicle_message, sig)) - { - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(subscription_id, vehicle_message); - DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_name().c_str()); - } + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(subscription_id, vehicle_message); + DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_name().c_str()); } } } @@ -107,26 +101,19 @@ void can_bus_t::process_can_signals(const can_message_t& can_message) /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. -void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message) +void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) { int subscription_id = can_message.get_sub_id(); - utils::signals_manager_t& sm = utils::signals_manager_t::instance(); - + openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); + if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && + s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) { - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); - - openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); - if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && - s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) + if (apply_filter(vehicle_message, s[subscription_id])) { - if (apply_filter(vehicle_message, s[subscription_id])) - { - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(subscription_id, vehicle_message); - DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, s[subscription_id]->get_name().c_str()); - } + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(subscription_id, vehicle_message); + DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, s[subscription_id]->get_name().c_str()); } } } @@ -145,22 +132,29 @@ void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const /// TODO: make diagnostic messages parsing optionnal. void can_bus_t::can_decode_message() { + utils::signals_manager_t& sm = utils::signals_manager_t::instance(); + while(is_decoding_) { + std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); + new_can_message_cv_.wait(can_message_lock); + while(!can_message_q_.empty()) { - std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); - new_can_message_cv_.wait(can_message_lock); - while(!can_message_q_.empty()) - { - const can_message_t can_message = next_can_message(); + const can_message_t can_message = next_can_message(); + can_message_lock.unlock(); + { + std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); + std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message); + {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);} else - process_can_signals(can_message); + {process_can_signals(can_message, s);} } + can_message_lock.lock(); } - new_decoded_can_message_.notify_one(); + new_decoded_can_message_.notify_one(); + can_message_lock.unlock(); } } @@ -168,7 +162,6 @@ void can_bus_t::can_decode_message() /// which are events that has to be pushed. void can_bus_t::can_event_push() { - std::pair<int, openxc_VehicleMessage> v_message; openxc_SimpleMessage s_message; json_object* jo; utils::signals_manager_t& sm = utils::signals_manager_t::instance(); @@ -179,11 +172,12 @@ void can_bus_t::can_event_push() new_decoded_can_message_.wait(decoded_can_message_lock); while(!vehicle_message_q_.empty()) { - v_message = next_vehicle_message(); - s_message = get_simple_message(v_message.second); + std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message(); + decoded_can_message_lock.unlock(); { std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); + s_message = get_simple_message(v_message.second); if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event())) { jo = json_object_new_object(); @@ -191,12 +185,15 @@ void can_bus_t::can_event_push() if(afb_event_push(s[v_message.first]->get_event(), jo) == 0) { if(v_message.second.has_diagnostic_response) - {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid);} - on_no_clients(s[v_message.first]); + {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);} + else + {on_no_clients(s[v_message.first], s);} } } } + decoded_can_message_lock.lock(); } + decoded_can_message_lock.unlock(); } } @@ -332,4 +329,4 @@ const std::string can_bus_t::get_can_device_name(const std::string& id_name) con } } return ret; -}
\ No newline at end of file +} diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp index 99d5a30f..b19519a8 100644 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -29,7 +29,7 @@ #include "can-message.hpp" #include "../utils/config-parser.hpp" #include "../binding/low-can-hat.hpp" -#include "../binding/low-can-cb.hpp" +#include "../binding/low-can-subscription.hpp" // TODO actual max is 32 but dropped to 24 for memory considerations #define MAX_ACCEPTANCE_FILTERS 24 @@ -53,8 +53,8 @@ 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); - void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message); + 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 |