diff options
Diffstat (limited to 'src/can-bus.cpp')
| -rw-r--r-- | src/can-bus.cpp | 42 |
1 files changed, 17 insertions, 25 deletions
diff --git a/src/can-bus.cpp b/src/can-bus.cpp index 8511bb1e..e15a3043 100644 --- a/src/can-bus.cpp +++ b/src/can-bus.cpp @@ -43,7 +43,7 @@ extern "C" * *********************************************************************************/ -can_bus_t::can_bus_t(int& conf_file) +can_bus_t::can_bus_t(int conf_file) : conf_file_{conf_file} { } @@ -59,7 +59,7 @@ void can_bus_t::can_decode_message() decoder_t decoder; DEBUG(binder_interface, "Beginning of decoding thread."); - while(is_decoding()) + while(is_decoding_) { { std::unique_lock<std::mutex> can_message_lock(can_message_mutex_); @@ -102,7 +102,7 @@ void can_bus_t::can_event_push() json_object* jo; DEBUG(binder_interface, "Beginning of the pushing thread"); - while(is_pushing()) + while(is_pushing_) { { std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_); @@ -128,10 +128,15 @@ void can_bus_t::can_event_push() void can_bus_t::start_threads() { - th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); is_decoding_ = true; - th_pushing_ = std::thread(&can_bus_t::can_event_push, this); + th_decoding_ = std::thread(&can_bus_t::can_decode_message, this); + if(!th_decoding_.joinable()) + is_decoding_ = false; + is_pushing_ = true; + th_pushing_ = std::thread(&can_bus_t::can_event_push, this); + if(!th_pushing_.joinable()) + is_pushing_ = false; } void can_bus_t::stop_threads() @@ -142,16 +147,6 @@ void can_bus_t::stop_threads() th_pushing_.join(); } -bool can_bus_t::is_decoding() -{ - return is_decoding_; -} - -bool can_bus_t::is_pushing() -{ - return is_pushing_; -} - int can_bus_t::init_can_dev() { std::vector<std::string> devices_name; @@ -167,12 +162,12 @@ int can_bus_t::init_can_dev() for(const auto& device : devices_name) { - can_bus_dev_t can_bus_device_handler(device); - if (can_bus_device_handler.open() == 0) + can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device); + if (can_devices_m_[device]->open() == 0) { i++; DEBUG(binder_interface, "Start reading thread"); - can_bus_device_handler.start_reading(*this); + can_devices_m_[device]->start_reading(*this); } else ERROR(binder_interface, "Can't open device %s", device.c_str()); @@ -394,16 +389,13 @@ canfd_frame can_bus_dev_t::read() return canfd_frame; } -bool can_bus_dev_t::is_running() -{ - return is_running_; -} - void can_bus_dev_t::start_reading(can_bus_t& can_bus) { DEBUG(binder_interface, "Launching reading thread"); - th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus)); is_running_ = true; + th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus)); + if(!th_reading_.joinable()) + is_running_ = false; } void can_bus_dev_t::stop_reading() @@ -417,7 +409,7 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus) can_message_t can_message; DEBUG(binder_interface, "Beginning of reading thread"); - while(is_running()) + while(is_running_) { can_message.convert_from_canfd_frame(read()); |