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-rw-r--r--low-can-binding/binding/low-can-hat.cpp88
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;
+}