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-rw-r--r--src/can-utils.cpp102
1 files changed, 51 insertions, 51 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp
index a156df44..868eb235 100644
--- a/src/can-utils.cpp
+++ b/src/can-utils.cpp
@@ -232,10 +232,10 @@ canfd_frame can_bus_dev_t::read(const struct afb_binding_interface* interface)
* @brief start reading threads and set flag is_running_
*
*/
-void can_bus_dev_t::start_reading()
+void can_bus_dev_t::start_reading(can_bus_t& can_bus)
{
- th_reading_ = std::thread(can_reader, std::ref(*this));
- is_running_ = true; is_running_ = true;
+ th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
+ is_running_ = true;
}
/*
@@ -247,51 +247,6 @@ bool can_bus_dev_t::is_running()
}
/**
- * @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.
- */
-can_message_t can_bus_dev_t::next_can_message(const struct afb_binding_interface* interface)
-{
- can_message_t can_msg(interface);
-
- if(!can_message_q_.empty())
- {
- can_msg = can_message_q_.front();
- can_message_q_.pop();
- DEBUG(interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
- return can_msg;
- }
-
- NOTICE(interface, "next_can_message: End of can message queue");
- has_can_message_ = false;
- return can_msg;
-}
-
-/**
- * @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_;
-}
-
-/**
* @brief Send a can message from a can_message_t object.
*
* params[const can_message_t& can_msg] the can message object to send
@@ -328,8 +283,8 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg, const struct afb_bin
*
*********************************************************************************/
-can_bus_t::can_bus_t(const afb_binding_interface *itf, int& conf_file)
- : interface_{itf}, conf_file_{conf_file}
+can_bus_t::can_bus_t(const struct afb_binding_interface *interface, int& conf_file)
+ : interface_{interface}, conf_file_{conf_file}
{
}
@@ -366,7 +321,7 @@ int can_bus_t::init_can_dev()
{
can_bus_dev_t can_bus_device_handler(device);
can_bus_device_handler.open(interface_);
- can_bus_device_handler.start_reading();
+ can_bus_device_handler.start_reading(std::ref(*this));
i++;
}
@@ -421,6 +376,51 @@ std::vector<std::string> can_bus_t::read_conf()
}
/**
+ * @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.
+ */
+can_message_t can_bus_t::next_can_message()
+{
+ can_message_t can_msg(interface_);
+
+ if(!can_message_q_.empty())
+ {
+ can_msg = can_message_q_.front();
+ can_message_q_.pop();
+ DEBUG(interface_, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
+ return can_msg;
+ }
+
+ NOTICE(interface_, "next_can_message: End of can message queue");
+ has_can_message_ = false;
+ return can_msg;
+}
+
+/**
+ * @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_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_t::has_can_message() const
+{
+ return has_can_message_;
+}
+
+/**
* @brief: Get a VehicleMessage from vehicle_message_q and return it
* then point to the next VehicleMessage in queue.
*