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-rw-r--r--src/can_reader.cpp14
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();
}
} \ No newline at end of file