diff options
Diffstat (limited to 'src/can_reader.cpp')
| -rw-r--r-- | src/can_reader.cpp | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/src/can_reader.cpp b/src/can_reader.cpp index b836570a..f984c70a 100644 --- a/src/can_reader.cpp +++ b/src/can_reader.cpp @@ -18,13 +18,23 @@ #include "can_reader.hpp" +#include "low-can-binding.hpp" +#include "can-utils.hpp" + void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus) { can_message_t can_message; while(can_bus_dev.is_running()) { - can_message.convert_from_canfd_frame(can_bus_dev.read()); - can_bus.push_new_can_message(can_message); + std::unique_lock<std::mutex> can_frame_lock(can_frame_mutex); + new_can_frame.wait(can_frame_lock); + can_message.convert_from_canfd_frame(can_bus_dev.read()); + can_frame_mutex.unlock(); + + std::lock_guard<std::mutex> can_message_lock(can_message_mutex); + can_bus.push_new_can_message(can_message); + can_message_mutex.unlock(); + new_can_message.notify_one(); } }
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