diff options
Diffstat (limited to 'src/can-utils.cpp')
| -rw-r--r-- | src/can-utils.cpp | 176 |
1 files changed, 145 insertions, 31 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index e41230b9..3aa2ca88 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -19,12 +19,13 @@ /******************************************************************************** * -* CanBus method implementation +* can_bus_dev_t method implementation * *********************************************************************************/ + can_bus_dev_t::can_bus_dev_t(afb_binding_interface *itf, const std:string &dev_name) - : interface{itf}, deviceName{dev_name} + : device_name_{dev_name} { } @@ -124,6 +125,16 @@ canfd_frame can_bus_dev_t::read() return canfd_frame; } +/** + * @brief start reading threads and set flag is_running_ + * + */ +void can_bus_dev_t::start_reading() +{ + th_reading_ = std::thread(can_reader, this); + is_running_ = true; +} + /* * Return is_running_ bool */ @@ -132,25 +143,11 @@ bool can_bus_dev_t::is_running() return is_running_; } -can_bus_t::can_bus_t(afb_binding_interface *itf, const std:string &dev_name) - : interface{itf} -{ -} - -void can_bus_t::start_threads() -{ - th_reading_ = std::thread(can_reader, interface, socket, can_message_q_); - is_running_ = true; - - th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_); - th_pushing_ = std::thread(can_event_push, interface, can_message_q_); -} - -/* - * Get a CanMessage from can_message_q and return it - * then point to the next CanMessage in queue. +/** + * @brief: Get a can_message_t from can_message_q and return it + * then point to the next can_message_t in queue. * - * Return the next queue element or NULL if queue is empty. + * @return the next queue element or NULL if queue is empty. */ can_message_t can_bus_dev_t::next_can_message() { @@ -160,26 +157,134 @@ can_message_t can_bus_dev_t::next_can_message() can_message_q_.pop() return &can_msg; } + has_can_message_ = false; } /** - * @return has_can_message_ bool + * @brief Append a new element to the can message queue and set + * has_can_message_ boolean to true + * + * @params[const can_message_t& can_msg] the can_message_t to append + * + */ +void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg) +{ + can_message_q_.push(can_msg); +} + +/** + * @brief Flag that let you know when can message queue is exhausted + * + * @return[bool] has_can_message_ bool */ bool can_bus_dev_t::has_can_message() const { return has_can_message_; } -void can_bus_dev_t::push_new_can_message(const can_message_t& can_msg) +/******************************************************************************** +* +* can_bus_t method implementation +* +*********************************************************************************/ + +can_bus_t::can_bus_t(afb_binding_interface *itf, std::ifstream& conf_file) + : interface{itf}, conf_file_{conf_file} { - can_message_q_.push(can_msg); } -/* - * Send a can message from a can_message_t object. +/** + * @brief start threads relative to the can bus: decoding and pushing + * as the reading is handled by can_bus_dev_t object + * + */ +void can_bus_t::start_threads() +{ + th_decoding_ = std::thread(can_decoder, this); + th_pushing_ = std::thread(can_event_push, this); +} + + +/** + * @brief Initialize as many as can_bus_dev_t objects with their respective reading thread + * + * params[std::ifstream& conf_file] conf_file ifstream to the JSON configuration + * file located at the rootdir of the binding + */ + void init_can_dev() + { + std::vector<std::string> devices_name; + int i, t; + + devices_name = read_conf(conf_file_); + + t = devices_name.size(); + i=0 + + for(const auto& device : devices_name) + { + can_bus_dev_t(device); + i++; + } + + NOTICE(interface_, "Initialized %d/%d can bus device(s)", i, t); + } + +/** + * @brief Read the conf file and extract device name + * + * @params[std::ifstream& conf_file] conf_file JSON configuration + * file located at the rootdir of the binding + * + * @return[std:vector<std::string>] return a vector of device name */ -int can_bus_t::send_can_message(can_message_t &can_msg) + std::vector<std::string> read_conf(std::ifstream& conf_file) + { + std::vector<std::string> ret; + std::string fd_conf_content; + json_object jo, canbus; + int n, i, ok; + + /* Open JSON conf file */ + if (conf_file) + { + conf_file.seekg(0, std::ios::end); + conf_file.resize(conf_file.tellg()); + conf_file.seekg(0, std::ios::beg); + conf_file.read(&fd_conf_content[0], fd_conf_content.size()); + conf_file.close(); + + jo = json_tokener_parse(&fd_conf_content); + + if (jo == NULL || !json_object_object_get_ex(&jo, "canbus", &&canbus)) + ERROR(interface_, "Can't find canbus node in the configuration file. Please review it."); + else if (json_object_get_type(canbus) != json_type_array) + ret.push_back(json_object_get_string(a)); + else + { + n = json_object_array_length(a); + ok = 0; + for (i = 0 ; i < n ; i++) + ret.push_back(json_object_get_string(json_object_array_get_idx(a, i))); + } + return ret; + } + else + { + ERROR(interface_, "Problem at reading the conf file"); + return 0; + } +} + +/** + * @brief Send a can message from a can_message_t object. + * TODO: specify which can_dev to use as we can use many + * + * params[const can_message_t& can_msg] the can message object to send + * + */ +int can_bus_t::send_can_message(const can_message_t &can_msg) { int nbytes; canfd_frame *f; @@ -206,11 +311,11 @@ int can_bus_t::send_can_message(can_message_t &can_msg) return 0; } -/* - * Get a VehicleMessage from vehicle_message_q and return it +/** + * @brief: Get a VehicleMessage from vehicle_message_q and return it * then point to the next VehicleMessage in queue. * - * Return the next queue element or NULL if queue is empty. + * @return the next queue element or NULL if queue is empty. */ openxc_VehicleMessage* can_bus_t::next_vehicle_message() { @@ -224,14 +329,23 @@ openxc_VehicleMessage* can_bus_t::next_vehicle_message() has_vehicle_message_ = false; } +/** + * @brief Append a new element to the vehicle message queue and set + * has_vehicle_message_ boolean to true + * + * @params[const openxc_VehicleMessage& v_msg] the openxc_VehicleMessage to append + * + */ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) { vehicle_message_q_.push(v_msg); has_vehicle_message_ = true; } -/* - * Return has_can_message_ bool +/** + * @brief Flag that let you know when vehicle message queue is exhausted + * + * @return[bool] has_vehicle_message_ bool */ bool can_bus_t::has_vehicle_message() const { |