Reworked reading CAN devices from BCM socket.

Now reading thread hold in can_bus_t object instead of can_bus_dev_t and reading
happens using select().

Change-Id: Ib8cc68c4484679168519f3c0fa485fedd1616c74
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

4 files changed, 62 insertions, 5 deletions

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index df0c0d6..955e617 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -27,6 +27,7 @@
 #include "can-message.hpp"
 #include "../low-can-binding.hpp"
 #include "canutil/write.h"
+#include "../bitfield/bitfield.h"
 
 /// @brief Class constructor
 ///
@@ -45,6 +46,9 @@ int can_bus_dev_t::get_index() const
 {
 	return index_;
 }
+utils::socketcan_t& can_bus_dev_t::get_socket()
+{
+	return can_socket_;
 }
 
 /// @brief Open the can socket and returning it
@@ -125,13 +129,12 @@ int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
 	struct utils::canfd_bcm_msg bcm_msg;
 
 	uint8_t bit_size = s.get_bit_size();
-	float val = (float)exp2(bit_size);
-	uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset());
+	float val = (float)exp2(bit_size)-1;
 
 	bcm_msg.msg_head.opcode  = RX_SETUP;
 	bcm_msg.msg_head.can_id  = can_id;
 	bcm_msg.msg_head.nframes = 1;
-	U64_DATA(&bcm_msg.frames[0]) = filter;
+	bitfield_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset(), bcm_msg.frames[0].data, CANFD_MAX_DLEN);
 
 	if(can_socket_ << bcm_msg)
 		return 0;
diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
index 38727e0..8b4cf47 100644
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -43,10 +43,11 @@ private:
 	void can_reader(can_bus_t& can_bus);
 
 public:
-	can_bus_dev_t(const std::string& dev_name, int32_t address);
+	can_bus_dev_t(const std::string& dev_name, int index);
 
 	std::string get_device_name() const;
 	int get_index() const;
+	utils::socketcan_t& get_socket();
 
 	int open();
 	void configure();
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 6e74b86..6f9e78d 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -47,6 +47,49 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file)
 
 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
 
+/// @brief Listen for all device sockets and fill can_messages_queue with them.
+/// Reading blocks until message arrive on listened sockets.
+///
+/// @return 0 if ok -1 if not
+int can_bus_t::can_reader()
+{
+	fd_set rfds;
+	int sock_max = INVALID_SOCKET;
+
+	FD_ZERO(&rfds);
+
+	for(auto& can_dev : can_devices_)
+	{
+		FD_SET(can_dev.second->get_socket().socket(), &rfds);
+		if (sock_max < can_dev.second->get_socket().socket())
+			sock_max = can_dev.second->get_socket().socket();
+	}
+
+	int ret;
+	while(is_reading_)
+	{
+		ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr);
+
+		if(ret == -1)
+			perror("select()");
+		else if(ret > 0)
+		{
+			for(const auto& s: can_devices_)
+			{
+				if(FD_ISSET(s.second->get_socket().socket(), &rfds))
+				{
+					can_message_t msg;
+					s.second->get_socket() >> msg;
+					push_new_can_message(msg);
+					}
+				}
+		}
+		else
+			printf("Timeout\n");
+	}
+	return 0;
+}
+
 /// @brief Will make the decoding operation on a classic CAN message. It will not
 /// handle CAN commands nor diagnostic messages that have their own method to get
 /// this happens.
@@ -199,6 +242,11 @@ void can_bus_t::can_event_push()
 ///  and push subscribed events.
 void can_bus_t::start_threads()
 {
+	is_reading_ = true;
+	th_reading_ = std::thread(&can_bus_t::can_reader, this);
+	if(!th_reading_.joinable())
+		is_reading_ = false;
+
 	is_decoding_ = true;
 	th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 	if(!th_decoding_.joinable())
@@ -215,6 +263,7 @@ void can_bus_t::start_threads()
 /// they'll finish their job.
 void can_bus_t::stop_threads()
 {
+	is_reading_ = false;
 	is_decoding_ = false;
 	is_pushing_ = false;
 }
@@ -248,7 +297,7 @@ int can_bus_t::init_can_dev()
 					can_bus_t::can_devices_[device]->configure();
 					DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
 					NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
-					can_bus_t::can_devices_[device]->start_reading(*this);
+					//can_bus_t::can_devices_[device]->start_reading(*this);
 					i++;
 				}
 				else
diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
index 11b3b7a..94aa042 100644
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -54,6 +54,10 @@ private:
 	int process_can_signals(can_message_t& can_message);
 	int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
 
+	int can_reader();
+	std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
+	bool is_reading_ = false; ///< boolean telling whether or not reading is running or not
+
 	void can_decode_message();
 	std::thread th_decoding_; ///< thread that'll handle decoding a can frame
 	bool is_decoding_ = false; ///< boolean member controling thread while loop