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/*
* Copyright (C) 2015, 2016 "IoT.bzh"
* Author "Romain Forlot" <romain.forlot@iot.bzh>
* Author "Loic Collignon" <loic.collignon@iot.bzh>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#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())
{
/* Declare and take lock ownership of can_frame_mutex.
* then waiting notification for a new can frame arrival
*/
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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