First draft about lock/wait thread management.

Reordering include files

Change-Id: Ia6d9ee30eb4e1df0c380c26355679fe00b373aa8
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

12 files changed, 343 insertions, 204 deletions

diff --git a/src/can-signals.cpp b/src/can-signals.cpp
index 2cf4b03..0a6a829 100644
--- a/src/can-signals.cpp
+++ b/src/can-signals.cpp
@@ -17,6 +17,10 @@
 
 #include "can-signals.hpp"
 
+#include <fnmatch.h>
+
+#include "low-can-binding.hpp"
+
 /**
  * @brief Dumb SIGNALS array. It is composed by CanMessageSet
  * SIGNALS[MESSAGE_SET_ID][CanSignal]
diff --git a/src/can-signals.hpp b/src/can-signals.hpp
index d4ada1d..af110d0 100644
--- a/src/can-signals.hpp
+++ b/src/can-signals.hpp
@@ -19,14 +19,18 @@
 
 #include <map>
 #include <queue>
-#include <string>
 #include <vector>
-#include <fnmatch.h>
+#include <string>
+#include <thread>
+#include <linux/can.h>
 
+#include "timer.hpp"
+#include "openxc.pb.h"
 #include "can-utils.hpp"
 
 extern "C"
 {
+	#include <afb/afb-binding.h>
 	#include <afb/afb-event-itf.h>
 }
 
diff --git a/src/can-utils.cpp b/src/can-utils.cpp
index ba4060e..5a845b3 100644
--- a/src/can-utils.cpp
+++ b/src/can-utils.cpp
@@ -17,6 +17,24 @@
 
 #include "can-utils.hpp"
 
+#include <map>
+#include <vector>
+#include <cstdio>
+#include <string>
+#include <fcntl.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+#include <linux/can/raw.h>
+#include <systemd/sd-event.h>
+
+extern "C"
+{
+	#include <afb/afb-binding.h>
+}
+
 /********************************************************************************
 *
 *		CanMessage method implementation
@@ -140,6 +158,154 @@ canfd_frame can_message_t::convert_to_canfd_frame()
 
 /********************************************************************************
 *
+*		can_bus_t method implementation
+*
+*********************************************************************************/
+
+can_bus_t::can_bus_t(int& conf_file)
+	:  conf_file_{conf_file}
+{
+}
+
+void can_bus_t::start_threads()
+{
+	th_decoding_ = std::thread(can_decode_message, std::ref(*this));
+	th_pushing_ = std::thread(can_event_push, std::ref(*this));
+}
+
+
+int can_bus_t::init_can_dev()
+{
+	std::vector<std::string> devices_name;
+	int i;
+	size_t t;
+
+	devices_name = read_conf();
+
+	if (! devices_name.empty())
+	{
+		t = devices_name.size();
+		i=0;
+
+		for(const auto& device : devices_name)
+		{
+			can_bus_dev_t can_bus_device_handler(device);
+			can_bus_device_handler.open();
+			can_bus_device_handler.start_reading(std::ref(*this));
+			i++;
+		}
+
+		NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
+		return 0;
+	}
+	ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read into configuration file. Did you specify canbus JSON object ?");
+	return 1;
+}
+
+std::vector<std::string> can_bus_t::read_conf()
+{
+	std::vector<std::string> ret;
+	json_object *jo, *canbus;
+	int n, i;
+
+	FILE *fd = fdopen(conf_file_, "r");
+	if (fd)
+	{
+		std::string fd_conf_content;
+		std::fseek(fd, 0, SEEK_END);
+		fd_conf_content.resize(std::ftell(fd));
+		std::rewind(fd);
+		std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
+		std::fclose(fd);
+
+		jo = json_tokener_parse(fd_conf_content.c_str());
+
+		if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
+		{
+			ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
+			ret.clear();
+		}
+		else if (json_object_get_type(canbus) != json_type_array)
+			ret.push_back(json_object_get_string(canbus));
+		else
+		{
+			n = json_object_array_length(canbus);
+			for (i = 0 ; i < n ; i++)
+				ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
+		}
+		return ret;
+	}
+	ERROR(binder_interface, "Problem at reading the conf file");
+	ret.clear();
+	return ret;
+}
+
+can_message_t can_bus_t::next_can_message()
+{
+	can_message_t can_msg;
+
+	if(!can_message_q_.empty())
+	{
+		can_msg = can_message_q_.front();
+		can_message_q_.pop();
+		DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
+		return can_msg;
+	}
+	
+	NOTICE(binder_interface, "next_can_message: End of can message queue");
+	has_can_message_ = false;
+	return can_msg;
+}
+
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+{
+	can_message_q_.push(can_msg);
+}
+
+bool can_bus_t::has_can_message() const
+{
+	return has_can_message_;
+}
+
+openxc_VehicleMessage can_bus_t::next_vehicle_message()
+{
+	openxc_VehicleMessage v_msg;
+
+	if(! vehicle_message_q_.empty())
+	{
+		v_msg = vehicle_message_q_.front();
+		vehicle_message_q_.pop();
+		DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
+		return v_msg;
+	}
+	
+	NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
+	has_vehicle_message_ = false;
+	return v_msg;
+}
+
+void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
+{
+	vehicle_message_q_.push(v_msg);
+	has_vehicle_message_ = true;
+}
+
+bool can_bus_t::has_vehicle_message() const
+{
+	return has_vehicle_message_;
+}
+
+/********************************************************************************
+*
+*		This is the sd_event_add_io callback function declaration. 
+*		Its implementation can be found into low-can-binding.cpp.
+*
+*********************************************************************************/
+
+int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata);
+
+/********************************************************************************
+*
 *		can_bus_dev_t method implementation
 *
 *********************************************************************************/
@@ -149,6 +315,22 @@ can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
 {
 }
 
+int can_bus_dev_t::event_loop_connection()
+{
+	sd_event_source *source;
+	int rc;
+
+	/* adds to the event loop */
+	rc = sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &source, can_socket_, EPOLLIN, can_frame_received, this);
+	if (rc < 0) {
+		close();
+		ERROR(binder_interface, "Can't coonect CAN device %s to the event loop", device_name_);
+	} else {
+		NOTICE(binder_interface, "Connected to %s", device_name_);
+	}
+	return rc;
+}
+
 int can_bus_dev_t::open()
 {
 	const int canfd_on = 1;
@@ -249,7 +431,6 @@ canfd_frame can_bus_dev_t::read()
 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 {
 	th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(can_bus));
-
 	is_running_ = true;
 }
 
@@ -285,142 +466,4 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 		open();
 	}
 	return 0;
-}
-/********************************************************************************
-*
-*		can_bus_t method implementation
-*
-*********************************************************************************/
-
-can_bus_t::can_bus_t(int& conf_file)
-	:  conf_file_{conf_file}
-{
-}
-
-void can_bus_t::start_threads()
-{
-	th_decoding_ = std::thread(can_decode_message, std::ref(*this));
-	th_pushing_ = std::thread(can_event_push, std::ref(*this));
-}
-
-
-int can_bus_t::init_can_dev()
-{
-	std::vector<std::string> devices_name;
-	int i;
-	size_t t;
-
-	devices_name = read_conf();
-
-	if (! devices_name.empty())
-	{
-		t = devices_name.size();
-		i=0;
-
-		for(const auto& device : devices_name)
-		{
-			can_bus_dev_t can_bus_device_handler(device);
-			can_bus_device_handler.open();
-			can_bus_device_handler.start_reading(std::ref(*this));
-			i++;
-		}
-
-		NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
-		return 0;
-	}
-	ERROR(binder_interface, "init_can_dev: Error at CAN device initialization.");
-	return 1;
-}
-
-std::vector<std::string> can_bus_t::read_conf()
-{
-	std::vector<std::string> ret;
-	json_object *jo, *canbus;
-	int n, i;
-
-	FILE *fd = fdopen(conf_file_, "r");
-	if (fd)
-	{
-		std::string fd_conf_content;
-		std::fseek(fd, 0, SEEK_END);
-		fd_conf_content.resize(std::ftell(fd));
-		std::rewind(fd);
-		std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
-		std::fclose(fd);
-
-		jo = json_tokener_parse(fd_conf_content.c_str());
-
-		if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
-		{
-			ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
-			ret.clear();
-		}
-		else if (json_object_get_type(canbus) != json_type_array)
-			ret.push_back(json_object_get_string(canbus));
-		else
-		{
-			n = json_object_array_length(canbus);
-			for (i = 0 ; i < n ; i++)
-				ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
-		}
-		return ret;
-	}
-	ERROR(binder_interface, "Problem at reading the conf file");
-	ret.clear();
-	return ret;
-}
-
-can_message_t can_bus_t::next_can_message()
-{
-	can_message_t can_msg;
-
-	if(!can_message_q_.empty())
-	{
-		can_msg = can_message_q_.front();
-		can_message_q_.pop();
-		DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
-		return can_msg;
-	}
-	
-	NOTICE(binder_interface, "next_can_message: End of can message queue");
-	has_can_message_ = false;
-	return can_msg;
-}
-
-void can_bus_t::push_new_can_message(const can_message_t& can_msg)
-{
-	can_message_q_.push(can_msg);
-}
-
-bool can_bus_t::has_can_message() const
-{
-	return has_can_message_;
-}
-
-openxc_VehicleMessage can_bus_t::next_vehicle_message()
-{
-	openxc_VehicleMessage v_msg;
-
-	if(! vehicle_message_q_.empty())
-	{
-		v_msg = vehicle_message_q_.front();
-		vehicle_message_q_.pop();
-		DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
-		return v_msg;
-	}
-	
-	NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue");
-	has_vehicle_message_ = false;
-	return v_msg;
-}
-
-void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
-{
-	vehicle_message_q_.push(v_msg);
-	has_vehicle_message_ = true;
-}
-
-bool can_bus_t::has_vehicle_message() const
-{
-	return has_vehicle_message_;
 }
\ No newline at end of file
diff --git a/src/can-utils.hpp b/src/can-utils.hpp
index 218452d..e4a3d34 100644
--- a/src/can-utils.hpp
+++ b/src/can-utils.hpp
@@ -17,30 +17,14 @@
 
 #pragma once
 
-#include <map>
 #include <queue>
-#include <vector>
-#include <cstdio>
-#include <string>
-#include <fcntl.h>
-#include <unistd.h>
-#include <net/if.h>
 #include <thread>
-#include <sys/ioctl.h>
 #include <linux/can.h>
-#include <sys/socket.h>
-#include <json-c/json.h>
-#include <linux/can/raw.h>
 
 #include "timer.hpp"
 #include "openxc.pb.h"
 #include "low-can-binding.hpp"
 
-extern "C"
-{
-	#include <afb/afb-binding.h>
-}
-
 // TODO actual max is 32 but dropped to 24 for memory considerations
 #define MAX_ACCEPTANCE_FILTERS 24
 // TODO this takes up a ton of memory
@@ -342,12 +326,33 @@ class can_bus_dev_t {
 		can_bus_dev_t(const std::string& dev_name);
 
 		/**
+		 * @brief Connect to the application framework event loop and adding
+		 *  a watch on the socket that will wakeup reading thread that will
+		 * read the socket and fill can_bus_t object queue.
+		 *
+		 * @return 0 if success, anything else if not.
+		 */
+		int event_loop_connection();
+
+		/**
 		 * @brief Open the can socket and returning it 
 		 *
 		 * @return 
 		 */
 		int open();
+		
+		/**
+		 * @brief Open the can socket and returning it 
+		 *
+		 * @return 
+		 */
 		int close();
+		
+		/**
+		 * @brief Telling if the reading thread is running
+		 *
+		 * @return true if read is running, false if not.
+		 */
 		bool is_running();
 		
 		/**
diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp
index 8fadbdb..8d81f8b 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();
 	}
 }
diff --git a/src/can_decode_message.hpp b/src/can_decode_message.hpp
index 118dac0..73ea2ef 100644
--- a/src/can_decode_message.hpp
+++ b/src/can_decode_message.hpp
@@ -18,9 +18,8 @@
 
 #pragma once
 
-#include "can-utils.hpp"
-#include "openxc-utils.hpp"
-#include "can-signals.hpp"
-#include "can-decoder.hpp"
+#include <mutex>
+#include <condition_variable>
 
-void can_decode_message(can_bus_t &can_bus);
\ No newline at end of file
+extern std::condition_variable new_decoded_can_message;
+extern std::mutex decoded_can_message_mutex;
\ No newline at end of file
diff --git a/src/can_event_push.cpp b/src/can_event_push.cpp
index 2842c63..bfe8c80 100644
--- a/src/can_event_push.cpp
+++ b/src/can_event_push.cpp
@@ -18,6 +18,12 @@
 
 #include "can_event_push.hpp"
 
+#include "can-utils.hpp"
+#include "can-signals.hpp"
+#include "openxc-utils.hpp"
+
+#include "can_decode_message.hpp"
+
 void can_event_push(can_bus_t& can_bus)
 {
 	openxc_VehicleMessage v_message;
@@ -26,15 +32,23 @@ void can_event_push(can_bus_t& can_bus)
 	
 	while(can_bus.has_vehicle_message())
 	{
-		v_message = can_bus.next_vehicle_message();
+		std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex);
+		new_decoded_can_message.wait(decoded_can_message_lock);
+			v_message = can_bus.next_vehicle_message();
+		decoded_can_message_mutex.unlock();
+
 		s_message = get_simple_message(v_message);
-		std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals();
-		const auto& it_event = subscribed_signals.find(s_message.name);
-		if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second))
-		{
-			jo = json_object_new_object();
-			jsonify_simple(s_message, jo);
-			afb_event_push(it_event->second, jo);
-		}
+
+		std::lock_guard<std::mutex> push_signal_lock(subscribed_signals_mutex);
+			std::map<std::string, struct afb_event> subscribed_signals = get_subscribed_signals();
+			const auto& it_event = subscribed_signals.find(s_message.name);
+			if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second))
+			{
+				jo = json_object_new_object();
+				jsonify_simple(s_message, jo);
+				afb_event_push(it_event->second, jo);
+			}
+		subscribed_signals_mutex.unlock();
+		update_subscrided_signals.notify_one();
 	}
 }
\ No newline at end of file
diff --git a/src/can_event_push.hpp b/src/can_event_push.hpp
index 0e614f1..0040144 100644
--- a/src/can_event_push.hpp
+++ b/src/can_event_push.hpp
@@ -18,8 +18,8 @@
 
 #pragma once
 
-#include "can-utils.hpp"
-#include "can-signals.hpp"
-#include "openxc-utils.hpp"
+#include <mutex>
+#include <condition_variable>
 
-void can_event_push(can_bus_t& can_bus);
\ No newline at end of file
+std::condition_variable update_subscrided_signals;
+std::mutex subscribed_signals_mutex;
\ No newline at end of file
diff --git a/src/can_reader.cpp b/src/can_reader.cpp
index b836570..f984c70 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
diff --git a/src/can_reader.hpp b/src/can_reader.hpp
index 714a94d..3d73103 100644
--- a/src/can_reader.hpp
+++ b/src/can_reader.hpp
@@ -18,6 +18,8 @@
 
 #pragma once
 
-#include "can-utils.hpp"
+#include <mutex>
+#include <condition_variable>
 
-void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
\ No newline at end of file
+extern std::condition_variable new_can_message;
+extern std::mutex can_message_mutex;
\ No newline at end of file
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index 9e34401..233f002 100644
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -16,11 +16,18 @@
  * limitations under the License.
  */
 
+#include "low-can-binding.hpp"
+
+#include <queue>
+#include <vector>
+#include <thread>
+#include <fcntl.h>
+#include <linux/can.h>
 #include <json-c/json.h>
 #include <systemd/sd-event.h>
 
-#include "low-can-binding.hpp"
-
+#include "timer.hpp"
+#include "openxc.pb.h"
 #include "can-utils.hpp"
 #include "can-signals.hpp"
 #include "openxc-utils.hpp"
@@ -36,12 +43,41 @@ 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;
+
 /********************************************************************************
 *
 *		Event management
 *
 *********************************************************************************/
+int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+{
+	can_bus_dev_t *can_bus_dev = (can_bus_dev_t*)userdata;
+	std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex);
 
+	/* Notify reading thread that there is something to read */
+	if ((revents & EPOLLIN) != 0) {
+		new_can_frame.notify_one();
+	}
+
+	/* check if error or hangup */
+	if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+	{
+		sd_event_source_unref(s);
+		can_bus_dev->close();
+		can_bus_dev->open();
+		can_bus_dev->start_reading(*can_bus_handler);
+	}
+
+	return 0;
+}
 /********************************************************************************
 *
 *		Subscription and unsubscription
@@ -220,14 +256,17 @@ extern "C"
 		int fd_conf;
 		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;
+
 		/* Open CAN socket */
-		can_bus_t can_bus_handler(fd_conf);
-		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");
 		return 1;
 	}
 };
diff --git a/src/low-can-binding.hpp b/src/low-can-binding.hpp
index 0f2b950..11df1f4 100644
--- a/src/low-can-binding.hpp
+++ b/src/low-can-binding.hpp
@@ -18,6 +18,12 @@
  
 #pragma once
 
+#include <mutex>
+#include <condition_variable>
+
 extern "C" struct afb_binding_interface;
 
 extern const struct afb_binding_interface *binder_interface;
+
+extern std::condition_variable new_can_frame;
+extern std::mutex can_frame_mutex;
\ No newline at end of file