diff options
Diffstat (limited to 'CAN-binder/low-can-binding/can')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 53 | ||||
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.hpp | 4 |
2 files changed, 1 insertions, 56 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index c49f4b40..8c45073e 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -47,51 +47,6 @@ 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; - std::lock_guard<std::mutex> can_message_lock(get_can_message_mutex()); - { push_new_can_message(msg); } - get_new_can_message_cv().notify_one(); - } - } - } - 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. @@ -102,7 +57,7 @@ int can_bus_t::can_reader() /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. -int can_bus_t::process_can_signals(can_message_t& can_message) +int can_bus_t::process_can_signals(const can_message_t& can_message) { int processed_signals = 0; struct utils::signals_found signals; @@ -248,11 +203,6 @@ 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()) @@ -269,7 +219,6 @@ 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; } diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp index 94fa0a58..8ed135f7 100644 --- a/CAN-binder/low-can-binding/can/can-bus.hpp +++ b/CAN-binder/low-can-binding/can/can-bus.hpp @@ -54,10 +54,6 @@ private: int process_can_signals(can_message_t& can_message); int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message); - int can_reader(); - std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t - bool is_reading_ = false; ///< boolean telling whether or not reading is running or not - 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 |