Make the thread function members of can_bus_t and can_bus_dev_t objects.

Change-Id: I3cf06998c6ff6d859c7fdf6bf52a9b6ff061c556
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

9 files changed, 171 insertions, 294 deletions

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c47f4b6..c60bc49 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -84,7 +84,7 @@ add_library(openxc STATIC ${PROJECT_LIBDIR}/openxc-message-format/gen/cpp/openxc
 
 message(STATUS "Creation of ${PROJECT_NAME} binding for AFB-DAEMON")
 ###########################################################################
-add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.cpp can-bus.cpp can-message.cpp can-signals.cpp can-decoder.cpp can_reader.cpp can_decode_message.cpp can_event_push.cpp openxc-utils.cpp timer.cpp)
+add_library(${PROJECT_NAME} MODULE ${PROJECT_NAME}.cpp can-bus.cpp can-message.cpp can-signals.cpp can-decoder.cpp openxc-utils.cpp timer.cpp)
 target_link_libraries(${PROJECT_NAME} ${EXTRAS_LIBRARIES} bitfield isotp uds openxc pthread)
 
 set_target_properties(${PROJECT_NAME} PROPERTIES
diff --git a/src/can-bus.cpp b/src/can-bus.cpp
index 29cadba..84cbaaa 100644
--- a/src/can-bus.cpp
+++ b/src/can-bus.cpp
@@ -44,11 +44,89 @@ can_bus_t::can_bus_t(int& conf_file)
 {
 }
 
+void can_bus_t::can_decode_message()
+{
+	can_message_t can_message;
+	std::vector <CanSignal> signals;
+	std::vector <CanSignal>::iterator signals_i;
+	openxc_VehicleMessage vehicle_message;
+	openxc_DynamicField search_key, decoded_message;
+
+	decoder_t decoder;
+
+	DEBUG(binder_interface, "Beginning of decoding thread.");
+	while(is_decoding())
+	{
+		{
+			std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
+			new_can_message_.wait(can_message_lock);
+			can_message = next_can_message();
+		}
+
+		/* First we have to found which CanSignal it 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(auto& sig : signals)
+		{
+			{
+				std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
+				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))
+				{
+					decoded_message = decoder.translateSignal(sig, can_message, getSignals());
+
+					openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, decoded_message);
+					vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
+
+					std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+					push_new_vehicle_message(vehicle_message);
+				}
+				new_decoded_can_message_.notify_one();
+			}
+		}
+	}
+}
+
+void can_bus_t::can_event_push()
+{
+	openxc_VehicleMessage v_message;
+	openxc_SimpleMessage s_message;
+	json_object* jo;
+	
+	DEBUG(binder_interface, "Beginning of the pushing thread");
+	while(is_pushing())
+	{
+		{
+			std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+			new_decoded_can_message_.wait(decoded_can_message_lock);
+			v_message = next_vehicle_message();
+		}
+
+		s_message = get_simple_message(v_message);
+
+		{
+			std::lock_guard<std::mutex> subscribed_signals_lock(get_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);
+			}
+		}
+	}
+}
+
 void can_bus_t::start_threads()
 {
-	th_decoding_ = std::thread(can_decode_message, std::ref(*this));
+	th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 	is_decoding_ = true;
-	th_pushing_ = std::thread(can_event_push, std::ref(*this));
+	th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
 	is_pushing_ = true;
 }
 
@@ -56,6 +134,8 @@ void can_bus_t::stop_threads()
 {
 	is_decoding_ = false;
 	is_pushing_ = false;
+	th_decoding_.join();
+	th_pushing_.join();
 }
 
 bool can_bus_t::is_decoding()
@@ -154,16 +234,6 @@ std::mutex& can_bus_t::get_can_message_mutex()
 	return can_message_mutex_;
 }
 
-std::condition_variable& can_bus_t::get_new_decoded_can_message()
-{
-	return new_decoded_can_message_;
-}
-
-std::mutex& can_bus_t::get_decoded_can_message_mutex()
-{
-	return decoded_can_message_mutex_;
-}
-
 can_message_t can_bus_t::next_can_message()
 {
 	can_message_t can_msg;
@@ -186,11 +256,6 @@ 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;
@@ -214,11 +279,6 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 	has_vehicle_message_ = true;
 }
 
-bool can_bus_t::has_vehicle_message() const
-{
-	return has_vehicle_message_;
-}
-
 /********************************************************************************
 *
 *		can_bus_dev_t method implementation
@@ -226,50 +286,57 @@ bool can_bus_t::has_vehicle_message() const
 *********************************************************************************/
 
 can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
-	: device_name_{dev_name}
+	: device_name_{dev_name}, can_socket_{-1}
 {
 }
 
 int can_bus_dev_t::open()
 {
 	const int canfd_on = 1;
+	const int timestamp_on = 1;
 	struct ifreq ifr;
-	struct timeval timeout = {1, 0};
+	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(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(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");
+				ERROR(binder_interface, "Bind failed. %s", strerror(errno));
 			else
 				return 0;
 		}
@@ -322,18 +389,39 @@ 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)
 {
-	th_reading_ = std::thread(can_reader, std::ref(*this), std::ref(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;
 }
 
-/*
- * Return is_running_ bool
- */
-bool can_bus_dev_t::is_running()
+void can_bus_dev_t::stop_reading()
 {
-	return is_running_;
+	is_running_ = false;
+	th_reading_.join();
+}
+
+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())
+	{
+		can_message.convert_from_canfd_frame(read());
+
+		{
+			std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
+			can_bus.push_new_can_message(can_message);
+		}
+		can_bus.get_new_can_message().notify_one();
+	}
 }
 
 int can_bus_dev_t::send_can_message(can_message_t& can_msg)
diff --git a/src/can-bus.hpp b/src/can-bus.hpp
index 9100ff8..302514d 100644
--- a/src/can-bus.hpp
+++ b/src/can-bus.hpp
@@ -49,19 +49,35 @@
 class can_bus_t {
 	private:
 		int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
-		
+
+		/**
+		 * @brief thread to decoding raw CAN messages. 
+		 *
+		 * @desc It will take from the can_message_q_ queue the next can message to process then it will search 
+		 *  about signal subscribed if there is a valid afb_event for it. We only decode signal for which a 
+		 *  subscription has been made. Can message will be decoded using translateSignal that will pass it to the
+		 *  corresponding decoding function if there is one assigned for that signal. If not, it will be the default
+		 *  noopDecoder function that will operate on it.
+		 */
+		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*/
+
+		/**
+		 * @brief thread to push events to suscribers. It will read subscribed_signals map to look 
+		 * which are events that has to be pushed.
+		 */
+		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_;
-		std::mutex can_message_mutex_;
+		std::condition_variable new_can_message_; /*!< 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.*/
 		bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the 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_;
-		std::mutex decoded_can_message_mutex_;
+		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.*/
 		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 */
 
@@ -88,11 +104,6 @@ class can_bus_t {
 		 */
 		std::vector<std::string> read_conf();
 		
-		std::condition_variable& get_new_can_message();
-		std::mutex& get_can_message_mutex();
-		std::condition_variable& get_new_decoded_can_message();
-		std::mutex& get_decoded_can_message_mutex();
-
 		/**
 		 * @brief Will initialize threads that will decode
 		 *  and push subscribed events.
@@ -101,7 +112,8 @@ class can_bus_t {
 
 		/**
 		 * @brief Will stop all threads holded by can_bus_t object
-		 *  which are decoding and pushing threads.
+		 *  which are decoding and pushing then will wait that's 
+		 * they'll finish their job.
 		 */
 		void stop_threads();
 
@@ -144,8 +156,10 @@ class can_bus_t {
 		 *
 		 * @return true if there is at least a can_message_t, false if not.
 		 */
-		bool has_can_message() const;
-		
+		std::mutex& get_can_message_mutex();
+		std::condition_variable& get_new_can_message();
+
+
 		/**
 		 * @brief Return first openxc_VehicleMessage on the queue 
 		 *
@@ -159,13 +173,6 @@ class can_bus_t {
 		 * @param the const reference openxc_VehicleMessage object to push into the queue
 		 */
 		void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
-		
-		/**
-		 * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
-		 *
-		 * @return true if there is at least a openxc_VehicleMessage, false if not.
-		 */
-		bool has_vehicle_message() const;
 };
 
 /**
@@ -183,6 +190,15 @@ class can_bus_dev_t {
 		
 		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 */
+		
+		/**
+		*
+		* @brief Thread function used to read the can socket.
+		*
+		* @param[in] can_bus_dev_t object to be used to read the can socket
+		* @param[in] can_bus_t object used to fill can_message_q_ queue
+		*/
+		void can_reader(can_bus_t& can_bus);
 
 	public:
 		/**
@@ -217,14 +233,20 @@ class can_bus_dev_t {
 		bool is_running();
 		
 		/**
- 		* @brief start reading threads and set flag is_running_
-		*
-		* @param can_bus_t reference can_bus_t. it will be passed to the thread 
-		*  to allow using can_bus_t queue.
- 		*/
+ 		 * @brief start reading threads and set flag is_running_
+		 *
+		 * @param can_bus_t reference can_bus_t. it will be passed to the thread 
+		 *  to allow using can_bus_t queue.
+ 		 */
 		void start_reading(can_bus_t& can_bus);
 
 		/**
+ 		 * @brief stop the reading thread setting flag is_running_ to false and
+		 * and wait that the thread finish its job.
+		 */
+		void stop_reading();
+
+		/**
  		* @brief Read the can socket and retrieve canfd_frame
 		*
 		* @param const struct afb_binding_interface* interface pointer. Used to be able to log 
@@ -292,16 +314,6 @@ bool isBusActive(can_bus_dev_t* bus);
 void logBusStatistics(can_bus_dev_t* buses, const int busCount);
 
 /**
- * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
- *
- * @brief Thread function used to read the can socket.
- *
- * @param[in] can_bus_dev_t object to be used to read the can socket
- * @param[in] can_bus_t object used to fill can_message_q_ queue
- */
-void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
-
-/**
  * @fn void can_decode_message(can_bus_t& can_bus);
  *
  * @brief Thread function used to decode can messages read into the can_message_q_
diff --git a/src/can_decode_message.cpp b/src/can_decode_message.cpp
deleted file mode 100644
index d4443ee..0000000
--- a/src/can_decode_message.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-/*
- * 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_decode_message.hpp"
-
-#include "can-bus.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;
-	std::vector <CanSignal> signals;
-	std::vector <CanSignal>::iterator signals_i;
-	openxc_VehicleMessage vehicle_message;
-	openxc_DynamicField search_key, decoded_message;
-
-	decoder_t decoder;
-
-	while(can_bus.is_decoding())
-	{
-		{
-			std::unique_lock<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
-			can_bus.get_new_can_message().wait(can_message_lock);
-			can_message = can_bus.next_can_message();
-		}
-
-		/* First we have to found which CanSignal it 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(auto& sig : signals)
-		{
-			{
-				std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
-				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))
-				{
-					decoded_message = decoder.translateSignal(sig, can_message, getSignals());
-
-					openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, decoded_message);
-					vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message);
-
-					std::lock_guard<std::mutex> decoded_can_message_lock(can_bus.get_decoded_can_message_mutex());
-					can_bus.push_new_vehicle_message(vehicle_message);
-				}
-				can_bus.get_new_decoded_can_message().notify_one();
-			}
-		}
-	}
-}
diff --git a/src/can_decode_message.hpp b/src/can_decode_message.hpp
deleted file mode 100644
index e597241..0000000
--- a/src/can_decode_message.hpp
+++ /dev/null
@@ -1,19 +0,0 @@
-/*
- * 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.
- */
-
-#pragma once
diff --git a/src/can_event_push.cpp b/src/can_event_push.cpp
deleted file mode 100644
index 3baaaf7..0000000
--- a/src/can_event_push.cpp
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
- * 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_event_push.hpp"
-
-#include "can-bus.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;
-	openxc_SimpleMessage s_message;
-	json_object* jo;
-	
-	while(can_bus.is_pushing())
-	{
-		{
-			std::unique_lock<std::mutex> decoded_can_message_lock(can_bus.get_decoded_can_message_mutex());
-			can_bus.get_new_decoded_can_message().wait(decoded_can_message_lock);
-			v_message = can_bus.next_vehicle_message();
-		}
-
-		s_message = get_simple_message(v_message);
-
-		{
-			std::lock_guard<std::mutex> subscribed_signals_lock(get_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);
-			}
-		}
-	}
-}
\ No newline at end of file
diff --git a/src/can_event_push.hpp b/src/can_event_push.hpp
deleted file mode 100644
index e597241..0000000
--- a/src/can_event_push.hpp
+++ /dev/null
@@ -1,19 +0,0 @@
-/*
- * 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.
- */
-
-#pragma once
diff --git a/src/can_reader.cpp b/src/can_reader.cpp
deleted file mode 100644
index 4ee1c48..0000000
--- a/src/can_reader.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * 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-bus.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());
-
-		{
-			std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
-			can_bus.push_new_can_message(can_message);
-		}
-		can_bus.get_new_can_message().notify_one();
-	}
-}
\ No newline at end of file
diff --git a/src/can_reader.hpp b/src/can_reader.hpp
deleted file mode 100644
index e597241..0000000
--- a/src/can_reader.hpp
+++ /dev/null
@@ -1,19 +0,0 @@
-/*
- * 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.
- */
-
-#pragma once