Fix: can bus object life is now expanded and don't

die prematuraly.

can_bus_handler object is now a pointer living
forever.
can_bus_dev_t object is now stored as a shared
pointer into a variable member into can_bus_t.

So everyone survive now.

Change-Id: I52768dd7fe3c203a5f679f59afd1bcf330f3af35
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

3 files changed, 36 insertions, 31 deletions

diff --git a/src/can-bus.cpp b/src/can-bus.cpp
index 8511bb1..e15a304 100644
--- a/src/can-bus.cpp
+++ b/src/can-bus.cpp
@@ -43,7 +43,7 @@ extern "C"
 *
 *********************************************************************************/
 
-can_bus_t::can_bus_t(int& conf_file)
+can_bus_t::can_bus_t(int conf_file)
 	: conf_file_{conf_file}
 {
 }
@@ -59,7 +59,7 @@ void can_bus_t::can_decode_message()
 	decoder_t decoder;
 
 	DEBUG(binder_interface, "Beginning of decoding thread.");
-	while(is_decoding())
+	while(is_decoding_)
 	{
 		{
 			std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
@@ -102,7 +102,7 @@ void can_bus_t::can_event_push()
 	json_object* jo;
 	
 	DEBUG(binder_interface, "Beginning of the pushing thread");
-	while(is_pushing())
+	while(is_pushing_)
 	{
 		{
 			std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
@@ -128,10 +128,15 @@ void can_bus_t::can_event_push()
 
 void can_bus_t::start_threads()
 {
-	th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 	is_decoding_ = true;
-	th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+	th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
+	if(!th_decoding_.joinable())
+		is_decoding_ = false;
+	
 	is_pushing_ = true;
+	th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+	if(!th_pushing_.joinable())
+		is_pushing_ = false;
 }
 
 void can_bus_t::stop_threads()
@@ -142,16 +147,6 @@ void can_bus_t::stop_threads()
 	th_pushing_.join();
 }
 
-bool can_bus_t::is_decoding()
-{
-	return is_decoding_;
-}
-
-bool can_bus_t::is_pushing()
-{
-	return is_pushing_;
-}
-
 int can_bus_t::init_can_dev()
 {
 	std::vector<std::string> devices_name;
@@ -167,12 +162,12 @@ int can_bus_t::init_can_dev()
 
 		for(const auto& device : devices_name)
 		{
-			can_bus_dev_t can_bus_device_handler(device);
-			if (can_bus_device_handler.open() == 0)
+			can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
+			if (can_devices_m_[device]->open() == 0)
 			{
 				i++;
 				DEBUG(binder_interface, "Start reading thread");
-				can_bus_device_handler.start_reading(*this);
+				can_devices_m_[device]->start_reading(*this);
 			}
 			else
 				ERROR(binder_interface, "Can't open device %s", device.c_str());
@@ -394,16 +389,13 @@ canfd_frame can_bus_dev_t::read()
 	return canfd_frame;
 }
 
-bool can_bus_dev_t::is_running()
-{
-	return is_running_;
-}
-
 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 {
 	DEBUG(binder_interface, "Launching reading thread");
-	th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
 	is_running_ = true;
+	th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
+	if(!th_reading_.joinable())
+		is_running_ = false;
 }
 
 void can_bus_dev_t::stop_reading()
@@ -417,7 +409,7 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 	can_message_t can_message;
 
 	DEBUG(binder_interface, "Beginning of reading thread");
-	while(is_running())
+	while(is_running_)
 	{
 		can_message.convert_from_canfd_frame(read());
 
diff --git a/src/can-bus.hpp b/src/can-bus.hpp
index 302514d..83b104b 100644
--- a/src/can-bus.hpp
+++ b/src/can-bus.hpp
@@ -36,6 +36,8 @@
 
 #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.
@@ -81,6 +83,8 @@ class can_bus_t {
 		bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the 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:
 		/**
 		 * @brief Class constructor
@@ -88,7 +92,7 @@ class can_bus_t {
 		 * @param struct afb_binding_interface *interface between daemon and binding
 		 * @param int file handle to the json configuration file.
 		 */
-		can_bus_t(int& conf_file);
+		can_bus_t(int conf_file);
 		
 		/**
 		 * @brief Will initialize can_bus_dev_t objects after reading 
@@ -152,11 +156,17 @@ class can_bus_t {
 		void push_new_can_message(const can_message_t& can_msg);		
 		
 		/**
-		 * @brief Return a boolean telling if there is any can_message into the queue
+		 * @brief return can_message_mutex_ member
 		 *
-		 * @return true if there is at least a can_message_t, false if not.
+		 * @return  return can_message_mutex_ member
 		 */
 		std::mutex& get_can_message_mutex();
+		
+		/**
+		 * @brief return new_can_message_ member
+		 *
+		 * @return  return new_can_message_ member
+		 */
 		std::condition_variable& get_new_can_message();
 
 
@@ -175,6 +185,7 @@ class can_bus_t {
 		void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
 };
 
+
 /**
  * @class can_bus_dev_t 
  *
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index 0ffef5e..24d1457 100644
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -44,6 +44,8 @@ extern "C"
  */
 const struct afb_binding_interface *binder_interface;
 
+can_bus_t *can_bus_handler;
+
 /********************************************************************************
 *
 *		Subscription and unsubscription
@@ -235,12 +237,12 @@ extern "C"
 		fd_conf = afb_daemon_rootdir_open_locale(binder_interface->daemon, "can_buses.json", O_RDONLY, NULL);
 
 		/* Initialize the CAN bus handler */
-		can_bus_t can_bus_handler(fd_conf);
+		can_bus_handler = new can_bus_t(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");