1 files changed, 88 insertions, 0 deletions
diff --git a/low-can-binding/binding/low-can-hat.cpp b/low-can-binding/binding/low-can-hat.cpp
new file mode 100644
index 00000000..26795f40
--- /dev/null
+++ b/low-can-binding/binding/low-can-hat.cpp
@@ -0,0 +1,88 @@
+#include <mutex>
+#include <systemd/sd-event.h>
+
+#include "application.hpp"
+#include "../utils/signals.hpp"
+#include "low-can-hat.hpp"
+#include "../can/message/message.hpp"
+#include "../can/can-bus.hpp"
+
+
+
+///******************************************************************************
+///
+///		SystemD event loop Callbacks
+///
+///*******************************************************************************/
+
+static void push_n_notify(std::shared_ptr<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(m);
+	}
+	cbm.get_new_can_message_cv().notify_one();
+}
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	bool is_permanent_recurring_request = false;
+
+	if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
+	{
+		DiagnosticRequest diag_req = can_subscription->get_diagnostic_message(pid)->build_diagnostic_request();
+		active_diagnostic_request_t* adr = application_t::instance().get_diagnostic_manager().find_recurring_request(diag_req);
+		if( adr != nullptr)
+		{
+			is_permanent_recurring_request = adr->get_permanent();
+
+			if(! is_permanent_recurring_request)
+				application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
+		}
+	}
+
+	if(! is_permanent_recurring_request)
+		on_no_clients(can_subscription, s);
+}
+
+
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
+{
+	auto it = s.find(can_subscription->get_index());
+	s.erase(it);
+}
+
+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)
+	{
+		utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+		std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+		if(can_subscription->get_index() != -1)
+		{
+			std::shared_ptr<utils::socketcan_t> s = can_subscription->get_socket();
+			if(s->socket() && s->socket() != -1)
+			{
+				std::shared_ptr<message_t> message = s->read_message();
+
+				// Sure we got a valid CAN message ?
+				if (! message->get_id() == 0 && ! message->get_length() == 0 && message->get_flags() & INVALID_FLAG)
+					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();
+	}
+
+	return 0;
+}