diff options
Diffstat (limited to 'src/can-bus.hpp')
| -rw-r--r-- | src/can-bus.hpp | 82 |
1 files changed, 47 insertions, 35 deletions
diff --git a/src/can-bus.hpp b/src/can-bus.hpp index 9100ff80..302514d8 100644 --- a/src/can-bus.hpp +++ b/src/can-bus.hpp @@ -49,19 +49,35 @@ class can_bus_t { private: int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/ - + + /** + * @brief thread to decoding raw CAN messages. + * + * @desc It will take from the can_message_q_ queue the next can message to process then it will search + * about signal subscribed if there is a valid afb_event for it. We only decode signal for which a + * subscription has been made. Can message will be decoded using translateSignal that will pass it to the + * corresponding decoding function if there is one assigned for that signal. If not, it will be the default + * noopDecoder function that will operate on it. + */ + void can_decode_message(); std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */ bool is_decoding_; /*!< boolean member controling thread while loop*/ + + /** + * @brief thread to push events to suscribers. It will read subscribed_signals map to look + * which are events that has to be pushed. + */ + void can_event_push(); std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */ bool is_pushing_; /*!< boolean member controling thread while loop*/ - std::condition_variable new_can_message_; - std::mutex can_message_mutex_; + std::condition_variable new_can_message_; /*!< condition_variable use to wait until there is a new CAN message to read*/ + std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ queue.*/ bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the queue */ std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */ - std::condition_variable new_decoded_can_message_; - std::mutex decoded_can_message_mutex_; + std::condition_variable new_decoded_can_message_; /*!< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_*/ + std::mutex decoded_can_message_mutex_; /*!< mutex protecting the vehicle_message_q_ queue.*/ bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the queue */ std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */ @@ -88,11 +104,6 @@ class can_bus_t { */ std::vector<std::string> read_conf(); - std::condition_variable& get_new_can_message(); - std::mutex& get_can_message_mutex(); - std::condition_variable& get_new_decoded_can_message(); - std::mutex& get_decoded_can_message_mutex(); - /** * @brief Will initialize threads that will decode * and push subscribed events. @@ -101,7 +112,8 @@ class can_bus_t { /** * @brief Will stop all threads holded by can_bus_t object - * which are decoding and pushing threads. + * which are decoding and pushing then will wait that's + * they'll finish their job. */ void stop_threads(); @@ -144,8 +156,10 @@ class can_bus_t { * * @return true if there is at least a can_message_t, false if not. */ - bool has_can_message() const; - + std::mutex& get_can_message_mutex(); + std::condition_variable& get_new_can_message(); + + /** * @brief Return first openxc_VehicleMessage on the queue * @@ -159,13 +173,6 @@ class can_bus_t { * @param the const reference openxc_VehicleMessage object to push into the queue */ void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); - - /** - * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue - * - * @return true if there is at least a openxc_VehicleMessage, false if not. - */ - bool has_vehicle_message() const; }; /** @@ -183,6 +190,15 @@ class can_bus_dev_t { std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */ bool is_running_; /*!< boolean telling whether or not reading is running or not */ + + /** + * + * @brief Thread function used to read the can socket. + * + * @param[in] can_bus_dev_t object to be used to read the can socket + * @param[in] can_bus_t object used to fill can_message_q_ queue + */ + void can_reader(can_bus_t& can_bus); public: /** @@ -217,14 +233,20 @@ class can_bus_dev_t { bool is_running(); /** - * @brief start reading threads and set flag is_running_ - * - * @param can_bus_t reference can_bus_t. it will be passed to the thread - * to allow using can_bus_t queue. - */ + * @brief start reading threads and set flag is_running_ + * + * @param can_bus_t reference can_bus_t. it will be passed to the thread + * to allow using can_bus_t queue. + */ void start_reading(can_bus_t& can_bus); /** + * @brief stop the reading thread setting flag is_running_ to false and + * and wait that the thread finish its job. + */ + void stop_reading(); + + /** * @brief Read the can socket and retrieve canfd_frame * * @param const struct afb_binding_interface* interface pointer. Used to be able to log @@ -292,16 +314,6 @@ bool isBusActive(can_bus_dev_t* bus); void logBusStatistics(can_bus_dev_t* buses, const int busCount); /** - * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus); - * - * @brief Thread function used to read the can socket. - * - * @param[in] can_bus_dev_t object to be used to read the can socket - * @param[in] can_bus_t object used to fill can_message_q_ queue - */ -void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus); - -/** * @fn void can_decode_message(can_bus_t& can_bus); * * @brief Thread function used to decode can messages read into the can_message_q_ |