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path: root/low-can-binding/can/can-bus.cpp
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Diffstat (limited to 'low-can-binding/can/can-bus.cpp')
-rw-r--r--low-can-binding/can/can-bus.cpp50
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