diff options
Diffstat (limited to 'low-can-binding/can/can-bus.cpp')
| -rw-r--r-- | low-can-binding/can/can-bus.cpp | 50 |
1 files changed, 26 insertions, 24 deletions
diff --git a/low-can-binding/can/can-bus.cpp b/low-can-binding/can/can-bus.cpp index e798618d..739e865c 100644 --- a/low-can-binding/can/can-bus.cpp +++ b/low-can-binding/can/can-bus.cpp @@ -81,9 +81,9 @@ bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std:: /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. -void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) +void can_bus_t::process_signals(const message_t& message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) { - int subscription_id = can_message.get_sub_id(); + int subscription_id = message.get_sub_id(); openxc_DynamicField decoded_message; openxc_VehicleMessage vehicle_message; @@ -93,9 +93,9 @@ void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<i // First we have to found which can_signal_t it is std::shared_ptr<low_can_subscription_t> sig = s[subscription_id]; - decoded_message = decoder_t::translate_signal(*sig->get_can_signal(), can_message, &send); + decoded_message = decoder_t::translate_signal(*sig->get_can_signal(), message, &send); openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp()); + vehicle_message = build_VehicleMessage(s_message, message.get_timestamp()); if(send && apply_filter(vehicle_message, sig)) { @@ -114,13 +114,13 @@ void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<i /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode. /// /// @return How many signals has been decoded. -void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) +void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr<message_t> message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s) { - int subscription_id = can_message.get_sub_id(); + int subscription_id = message->get_sub_id(); - openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message); - if (can_message.get_timestamp()) - {vehicle_message.timestamp = can_message.get_timestamp();} + openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(message); + if (message->get_timestamp()) + {vehicle_message.timestamp = message->get_timestamp();} if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) && s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event())) { @@ -155,16 +155,18 @@ void can_bus_t::can_decode_message() new_can_message_cv_.wait(can_message_lock); while(!can_message_q_.empty()) { - const can_message_t can_message = next_can_message(); + std::shared_ptr<message_t> message = next_can_message(); can_message_lock.unlock(); { std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex()); std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals(); - if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message)) - {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);} + if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(message)) + { + process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), message, s); + } else - {process_can_signals(can_message, s);} + {process_signals(*message, s);} } can_message_lock.lock(); } @@ -251,28 +253,28 @@ std::mutex& can_bus_t::get_can_message_mutex() /// @brief Return first can_message_t on the queue /// /// @return a can_message_t -const can_message_t can_bus_t::next_can_message() +std::shared_ptr<message_t> can_bus_t::next_can_message() { - can_message_t can_msg; + std::shared_ptr<message_t> msg; if(!can_message_q_.empty()) { - can_msg = can_message_q_.front(); + msg = can_message_q_.front(); can_message_q_.pop(); - AFB_DEBUG("Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(), - can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]); - return can_msg; + std::string debug = msg->get_debug_message(); + AFB_DEBUG(debug.c_str()); + return msg; } - return can_msg; + return msg; } -/// @brief Push a can_message_t into the queue +/// @brief Push a message_t into the queue /// -/// @param[in] can_msg - the const reference can_message_t object to push into the queue -void can_bus_t::push_new_can_message(const can_message_t& can_msg) +/// @param[in] msg - the const reference message_t object to push into the queue +void can_bus_t::push_new_can_message(std::shared_ptr<message_t> msg) { - can_message_q_.push(can_msg); + can_message_q_.push(msg); } /// @brief Return first openxc_VehicleMessage on the queue |