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-rw-r--r--low-can-binding/binding/low-can-cb.cpp22
1 files changed, 13 insertions, 9 deletions
diff --git a/low-can-binding/binding/low-can-cb.cpp b/low-can-binding/binding/low-can-cb.cpp
index 750baeff..6b869073 100644
--- a/low-can-binding/binding/low-can-cb.cpp
+++ b/low-can-binding/binding/low-can-cb.cpp
@@ -70,12 +70,12 @@ void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std
s.erase(it);
}
-static void push_n_notify(const can_message_t& cm)
+static void push_n_notify(std::shared_ptr<can_message_t> m)
{
can_bus_t& cbm = application_t::instance().get_can_bus_manager();
{
std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
- cbm.push_new_can_message(cm);
+ cbm.push_new_can_message(*m);
}
cbm.get_new_can_message_cv().notify_one();
}
@@ -83,23 +83,27 @@ static void push_n_notify(const can_message_t& cm)
int read_message(sd_event_source *event_source, int fd, uint32_t revents, void *userdata)
{
low_can_subscription_t* can_subscription = (low_can_subscription_t*)userdata;
+
+
if ((revents & EPOLLIN) != 0)
{
- std::shared_ptr<can_message_t> cm;
- utils::socketcan_bcm_t& s = can_subscription->get_socket();
- cm = s.read_message();
+ std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
+ std::shared_ptr<can_message_t> message = s->read_message();
// Sure we got a valid CAN message ?
- if(! cm->get_id() == 0 && ! cm->get_length() == 0)
- {push_n_notify(*cm);}
+ if (! message->get_id() == 0 && ! message->get_length() == 0)
+ {
+ push_n_notify(message);
+ }
}
// check if error or hangup
if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
{
sd_event_source_unref(event_source);
- can_subscription->get_socket().close();
+ can_subscription->get_socket()->close();
}
+
return 0;
}
@@ -170,7 +174,7 @@ static int add_to_event_loop(std::shared_ptr<low_can_subscription_t>& can_subscr
struct sd_event_source* event_source = nullptr;
return ( sd_event_add_io(afb_daemon_get_event_loop(),
&event_source,
- can_subscription->get_socket().socket(),
+ can_subscription->get_socket()->socket(),
EPOLLIN,
read_message,
can_subscription.get()));