diff options
Diffstat (limited to 'CAN-binder')
| -rw-r--r-- | CAN-binder/low-can-binding/can/can-bus.cpp | 37 |
1 files changed, 18 insertions, 19 deletions
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 0ce6dc6a..d83ef5d9 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -57,38 +57,36 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) /// @return How many signals has been decoded. int can_bus_t::process_can_signals(const can_message_t& can_message) { + int subscription_id = can_message.get_sub_id(); int processed_signals = 0; struct utils::signals_found signals; - openxc_DynamicField search_key, decoded_message; + openxc_DynamicField decoded_message; openxc_VehicleMessage vehicle_message; application_t& conf = application_t::instance(); 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::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); + // First we have to found which can_signal_t it is - search_key = build_DynamicField((double)can_message.get_id()); - signals = sm.find_signals(search_key); + std::shared_ptr<low_can_subscription_t> sig = s[subscription_id].first; - // Decoding the message ! Don't kill the messenger ! - for(const auto& sig : signals.can_signals) + if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id].second)) { - std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); - std::map<int, std::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); + bool send = true; + decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, conf.get_all_can_signals(), &send); - if( s.find(can_message.get_sub_id()) != s.end() && afb_event_is_valid(s[can_message.get_sub_id()].second)) + if(send) { - bool send = true; - decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_all_can_signals(), &send); - - if(send) - { - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); + openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_sig_name(), decoded_message); + vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); - std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message)); - } - processed_signals++; + std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); } + processed_signals++; + } } DEBUG(binder_interface, "%s: %d/%d CAN signals processed.", __FUNCTION__, processed_signals, (int)signals.can_signals.size()); @@ -109,6 +107,7 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c 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::pair<std::shared_ptr<low_can_subscription_t>, struct afb_event> >& s = sm.get_subscribed_signals(); @@ -120,6 +119,7 @@ int can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const c push_new_vehicle_message(std::make_pair(can_message.get_sub_id(), vehicle_message)); processed_signals++; } + } return processed_signals; } @@ -173,7 +173,6 @@ void can_bus_t::can_event_push() while(!vehicle_message_q_.empty()) { v_message = next_vehicle_message(); - s_message = get_simple_message(v_message.second); { std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); |