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-rw-r--r--src/can_decode_message.cpp51
1 files changed, 32 insertions, 19 deletions
diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp
index 8fadbdb6..8d81f8b8 100644
--- a/src/can_decode_message.cpp
+++ b/src/can_decode_message.cpp
@@ -18,6 +18,13 @@
#include "can_decode_message.hpp"
+#include "can-utils.hpp"
+#include "openxc-utils.hpp"
+#include "can-signals.hpp"
+#include "can-decoder.hpp"
+
+#include "can_reader.hpp"
+
void can_decode_message(can_bus_t &can_bus)
{
can_message_t can_message;
@@ -31,28 +38,34 @@ void can_decode_message(can_bus_t &can_bus)
while(can_bus.has_can_message())
{
- can_message = can_bus.next_can_message();
-
- /* First we have to found which CanSignal is */
- search_key = build_DynamicField((double)can_message.get_id());
- signals = find_can_signals(search_key);
-
- /* Decoding the message ! Don't kill the messenger ! */
- for(const auto& sig : signals)
- {
- std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals();
- const auto& it_event = subscribed_signals.find(sig.genericName);
+ std::unique_lock<std::mutex> can_message_lock(can_message_mutex);
+ new_can_message.wait(can_message_lock);
+ can_message = can_bus.next_can_message();
+ can_message_mutex.unlock();
+
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex);
+ /* First we have to found which CanSignal is */
+ search_key = build_DynamicField((double)can_message.get_id());
+ signals = find_can_signals(search_key);
- if(it_event != subscribed_signals.end() &&
- afb_event_is_valid(it_event->second))
- {
- ret = decoder.decodeSignal(sig, can_message, getSignals(), &send);
+ /* Decoding the message ! Don't kill the messenger ! */
+ for(const auto& sig : signals)
+ {
+ std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals();
+ const auto& it_event = subscribed_signals.find(sig.genericName);
+
+ if(it_event != subscribed_signals.end() &&
+ afb_event_is_valid(it_event->second))
+ {
+ ret = decoder.decodeSignal(sig, can_message, getSignals(), &send);
- openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, ret);
+ openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, ret);
- vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
- can_bus.push_new_vehicle_message(vehicle_message);
+ vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
+ can_bus.push_new_vehicle_message(vehicle_message);
+ }
}
- }
+ decoded_can_message_mutex.unlock();
+ new_decoded_can_message.notify_one();
}
}