diff options
Diffstat (limited to 'src/low-can-binding.cpp')
| -rw-r--r-- | src/low-can-binding.cpp | 20 |
1 files changed, 5 insertions, 15 deletions
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index 21517903..be2d3737 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -19,6 +19,7 @@ #include "low-can-binding.hpp" #include <queue> +#include <mutex> #include <vector> #include <thread> #include <fcntl.h> @@ -34,7 +35,6 @@ extern "C" { - #include <afb/afb-binding.h> #include <afb/afb-service-itf.h> }; @@ -43,15 +43,6 @@ extern "C" */ const struct afb_binding_interface *binder_interface; -/* - * CAN bus handler pointer. This is the object that will be use to - * initialize each CAN devices specified into the configuration file - * - * It is used by the reading thread also because of its can_message_q_ queue - * that store CAN messages read from the socket. - */ -can_bus_t *can_bus_handler; - /******************************************************************************** * * Subscription and unsubscription @@ -86,7 +77,7 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe, { int ret; - // TODO: lock the subscribed_signals when insert/remove + std::lock_guard<std::mutex> subscribed_signals_lock(subscribed_signals_mutex); auto ss_i = subscribed_signals.find(sig.genericName); if (ss_i != subscribed_signals.end() && !afb_event_is_valid(ss_i->second)) { @@ -243,13 +234,12 @@ extern "C" fd_conf = afb_daemon_rootdir_open_locale(binder_interface->daemon, "can_bus.json", O_RDONLY, NULL); /* Initialize the CAN bus handler */ - can_bus_t cbh(fd_conf); - can_bus_handler = &cbh; + can_bus_t can_bus_handler(fd_conf); /* Open CAN socket */ - if(can_bus_handler->init_can_dev() == 0) + if(can_bus_handler.init_can_dev() == 0) { - can_bus_handler->start_threads(); + can_bus_handler.start_threads(); return 0; } ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe"); |