separation of can_bus_t and can_bus_dev_t and use of the new socket class.

Change-Id: I5f292ab18737fa48259f357d660fed27fb8fb4be
Signed-off-by: Loïc Collignon <loic.collignon@iot.bzh>

4 files changed, 208 insertions, 159 deletions

diff --git a/src/can/can-bus-dev.cpp b/src/can/can-bus-dev.cpp
new file mode 100644
index 0000000..5166550
--- /dev/null
+++ b/src/can/can-bus-dev.cpp
@@ -0,0 +1,92 @@
+/*
+ * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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 <string.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+
+#include "can-bus-dev.hpp"
+#include "low-can-binding.hpp"
+
+/// @brief Class constructor 
+/// @param dev_name String representing the device name into the linux /dev tree
+can_bus_dev_t::can_bus_dev_t(const std::string& dev_name)
+	: device_name_{dev_name}
+{
+}
+
+/// @brief Open the can socket and returning it 
+/// @return -1 
+int can_bus_dev_t::open()
+{
+	const int canfd_on = 1;
+	const int timestamp_on = 1;
+	struct ifreq ifr;
+	struct timeval timeout;
+
+	DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_.socket());
+	if (can_socket_) return 0;
+
+	can_socket_.open(PF_CAN, SOCK_RAW, CAN_RAW);
+	if (can_socket_)
+	{
+		DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_.socket());
+		
+		// Set timeout for read
+		can_socket_.setopt(SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
+		
+		// Set timestamp for receveid frame
+		if (can_socket_.setopt(SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
+			WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
+		DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
+		
+		// try to switch the socket into CAN_FD mode
+		if (can_socket_.setopt(SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
+		{
+			NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
+			is_fdmode_on_ = false;
+		}
+		else
+		{
+			DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
+			is_fdmode_on_ = true;
+		}
+
+		// Attempts to open a socket to CAN bus
+		::strcpy(ifr.ifr_name, device_name_.c_str());
+		DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
+		if(::ioctl(can_socket_.socket(), SIOCGIFINDEX, &ifr) < 0)
+			ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
+		else
+		{
+			txAddress_.can_family = AF_CAN;
+			txAddress_.can_ifindex = ifr.ifr_ifindex;
+
+			// And bind it to txAddress
+			DEBUG(binder_interface, "Bind the socket");
+			if (::bind(can_socket_.socket(), (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
+				ERROR(binder_interface, "Bind failed. %s", strerror(errno));
+			else
+				return 0;
+		}
+		close();
+	}
+	else ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
+	return -1;
+}
diff --git a/src/can/can-bus-dev.hpp b/src/can/can-bus-dev.hpp
new file mode 100644
index 0000000..83a1b30
--- /dev/null
+++ b/src/can/can-bus-dev.hpp
@@ -0,0 +1,60 @@
+/*
+ * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
+ * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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.
+ */
+
+#pragma once
+
+#include <string>
+#include <thread>
+#include <linux/can.h>
+
+#include "../utils/socket.hpp"
+
+class can_bus_t;
+class can_message_t;
+
+/// @brief Object representing a can device. Handle opening, closing and reading on the
+/// socket. This is the low level object to be use by can_bus_t.
+class can_bus_dev_t 
+{
+private:
+	std::string device_name_;
+	utils::socket_t can_socket_;
+
+	int32_t id_; /// < an identifier used through binding that refer to that device
+	
+	bool is_fdmode_on_; /// < boolean telling if whether or not the can socket use fdmode.
+	struct sockaddr_can txAddress_; /// < internal member using to bind to the socket
+
+	std::thread th_reading_; /// < Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
+	bool is_running_; /// < boolean telling whether or not reading is running or not
+	void can_reader(can_bus_t& can_bus);
+
+public:
+	can_bus_dev_t(const std::string& dev_name);
+
+	int open();
+	int close();
+
+	void start_reading(can_bus_t& can_bus);
+
+	void stop_reading();
+
+	std::pair<struct canfd_frame&, size_t> read();
+		
+	int send_can_message(can_message_t& can_msg);
+};
diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp
index 699cb8c..e92e2cb 100644
--- a/src/can/can-bus.cpp
+++ b/src/can/can-bus.cpp
@@ -15,8 +15,6 @@
  * limitations under the License.
  */
 
-#include "can/can-bus.hpp"
-
 #include <map>
 #include <cerrno>
 #include <vector>
@@ -37,6 +35,8 @@ extern "C"
 	#include <afb/afb-binding.h>
 }
 
+#include "can/can-bus.hpp"
+
 /********************************************************************************
 *
 *		can_bus_t method implementation
@@ -53,6 +53,7 @@ can_bus_t::can_bus_t(int conf_file)
 {
 }
 
+
 /**
 * @brief thread to decoding raw CAN messages. 
 *
@@ -358,74 +359,6 @@ std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices
 *		can_bus_dev_t method implementation
 *
 *********************************************************************************/
-/**
-* @brief Class constructor 
-*
-* @param const string representing the device name into the linux /dev tree
-*/
-can_bus_dev_t::can_bus_dev_t(const std::string& dev_name)
-	: device_name_{dev_name}, can_socket_{-1}
-{}
-
-/**
-* @brief Open the can socket and returning it 
-*
-* @return 
-*/
-int can_bus_dev_t::open()
-{
-	const int canfd_on = 1;
-	const int timestamp_on = 1;
-	struct ifreq ifr;
-	struct timeval timeout;
-
-	DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
-	if (can_socket_ >= 0)
-		return 0;
-
-	can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
-	DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
-	if (can_socket_ < 0)
-		ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
-	else
-	{
-		/* Set timeout for read */
-		::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
-		/* Set timestamp for receveid frame */
-		if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
-			WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
-		DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
-		/* try to switch the socket into CAN_FD mode */
-		if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
-		{
-			NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
-			is_fdmode_on_ = false;
-		} else {
-			DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
-			is_fdmode_on_ = true;
-		}
-
-		/* Attempts to open a socket to CAN bus */
-		::strcpy(ifr.ifr_name, device_name_.c_str());
-		DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
-		if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
-			ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
-		else
-		{
-			txAddress_.can_family = AF_CAN;
-			txAddress_.can_ifindex = ifr.ifr_ifindex;
-
-			/* And bind it to txAddress */
-			DEBUG(binder_interface, "Bind the socket");
-			if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
-				ERROR(binder_interface, "Bind failed. %s", strerror(errno));
-			else
-				return 0;
-		}
-		close();
-	}
-	return -1;
-}
 
 /**
 	* @brief Open the can socket and returning it 
@@ -552,4 +485,4 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg)
 		open();
 	}
 	return 0;
-}
\ No newline at end of file
+}
diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp
index 4c26528..4443bf2 100644
--- a/src/can/can-bus.hpp
+++ b/src/can/can-bus.hpp
@@ -1,6 +1,7 @@
 /*
- * Copyright (C) 2015, 2016 "IoT.bzh"
+ * Copyright (C) 2015, 2016, 2017 "IoT.bzh"
  * Author "Romain Forlot" <romain.forlot@iot.bzh>
+ * Author "Loïc 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.
@@ -30,6 +31,8 @@
 
 #include "low-can-binding.hpp"
 
+#include "can-bus-dev.hpp"
+
 // 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
@@ -37,93 +40,54 @@
 
 #define CAN_ACTIVE_TIMEOUT_S 30
 
-class can_bus_dev_t;
-
-/** 
- * @class can_bus_t
- * @brief Object used to handle decoding and manage event queue to be pushed.
- *
- * This object is also used to initialize can_bus_dev_t object after reading 
- * json conf file describing the CAN devices to use. Thus, those object will read 
- * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
- *
- * That queue will be later used to be decoded and pushed to subscribers.
- */
-class can_bus_t {
-	private:
-		int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
-
-		void can_decode_message();
-		std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
-		bool is_decoding_; /*!< boolean member controling thread while loop*/
-
-		void can_event_push();
-		std::thread th_pushing_; /*!<  thread that'll handle pushing decoded can frame to subscribers */
-		bool is_pushing_; /*!< boolean member controling thread while loop*/
-
-		std::condition_variable new_can_message_cv_; /*!< condition_variable use to wait until there is a new CAN message to read*/
-		std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ queue.*/
-		std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */
-
-		std::condition_variable new_decoded_can_message_; /*!< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_*/
-		std::mutex decoded_can_message_mutex_;  /*!< mutex protecting the vehicle_message_q_ queue.*/
-		std::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
-
-		std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /*!< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function*/
-
-	public:
-		can_bus_t(int conf_file);
-
-		int init_can_dev();
-		std::vector<std::string> read_conf();
-		
-
-		void start_threads();
-		void stop_threads();
-
-		can_message_t next_can_message();
-		void push_new_can_message(const can_message_t& can_msg);		
-		std::mutex& get_can_message_mutex();
-		std::condition_variable& get_new_can_message_cv();
-
-		openxc_VehicleMessage next_vehicle_message();
-		void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
-
-		std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
-};
-
-
-/**
- * @class can_bus_dev_t 
- *
- * @brief Object representing a can device. Handle opening, closing and reading on the
- *  socket. This is the low level object to be use by can_bus_t.
- */
-class can_bus_dev_t {
-	private:
-		int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/
-		std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
-		int can_socket_; /*!< socket handler for the can device */
-		bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
-		struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
-
-		std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
-		bool is_running_; /*!< boolean telling whether or not reading is running or not */
-		void can_reader(can_bus_t& can_bus);
-
-	public:
-		can_bus_dev_t(const std::string& dev_name);
-
-		int open();
-		int close();
-
-		void start_reading(can_bus_t& can_bus);
-
-		void stop_reading();
-
-		std::pair<struct canfd_frame&, size_t> read();
-		
-		int send_can_message(can_message_t& can_msg);
+/// @brief Object used to handle decoding and manage event queue to be pushed.
+/// 
+/// This object is also used to initialize can_bus_dev_t object after reading 
+/// json conf file describing the CAN devices to use. Thus, those object will read 
+/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
+/// 
+/// That queue will be later used to be decoded and pushed to subscribers.
+class can_bus_t
+{
+private:
+	int conf_file_; /// < configuration file handle used to initialize can_bus_dev_t objects.
+	
+	void can_decode_message();
+	std::thread th_decoding_; /// < thread that'll handle decoding a can frame
+	bool is_decoding_; /// < boolean member controling thread while loop
+
+	void can_event_push();
+	std::thread th_pushing_; /// < thread that'll handle pushing decoded can frame to subscribers
+	bool is_pushing_; /// < boolean member controling thread while loop
+
+	std::condition_variable new_can_message_cv_; /// < condition_variable use to wait until there is a new CAN message to read
+	std::mutex can_message_mutex_; /// < mutex protecting the can_message_q_ queue.
+	std::queue <can_message_t> can_message_q_; /// < queue that'll store can_message_t to decoded
+
+	std::condition_variable new_decoded_can_message_; /// < condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
+	std::mutex decoded_can_message_mutex_;  /// < mutex protecting the vehicle_message_q_ queue.
+	std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed
+
+	std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
+
+public:
+	can_bus_t(int conf_file);
+
+	int init_can_dev();
+	std::vector<std::string> read_conf();
+
+	void start_threads();
+	void stop_threads();
+
+	can_message_t next_can_message();
+	void push_new_can_message(const can_message_t& can_msg);		
+	std::mutex& get_can_message_mutex();
+	std::condition_variable& get_new_can_message_cv();
+
+	openxc_VehicleMessage next_vehicle_message();
+	void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+
+	std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
 };
 
 /// TODO: implement this function as method into can_bus class