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-rw-r--r--src/can-utils.cpp176
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
{