diff options
| -rw-r--r-- | src/can-utils.cpp | 33 | ||||
| -rw-r--r-- | src/can-utils.hpp | 12 | ||||
| -rw-r--r-- | src/can_reader.cpp | 8 | ||||
| -rw-r--r-- | src/low-can-binding-new.cpp | 59 | ||||
| -rw-r--r-- | src/low-can-binding.cpp | 28 | ||||
| -rw-r--r-- | src/low-can-binding.hpp | 5 |
6 files changed, 62 insertions, 83 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index 8a91bd1..c6f2d57 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -28,7 +28,6 @@ #include <sys/socket.h> #include <json-c/json.h> #include <linux/can/raw.h> -#include <systemd/sd-event.h> extern "C" { @@ -187,7 +186,6 @@ int can_bus_t::init_can_dev() t = devices_name.size(); i=0; - std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex); for(const auto& device : devices_name) { can_bus_dev_t can_bus_device_handler(device); @@ -197,7 +195,6 @@ int can_bus_t::init_can_dev() ERROR(binder_interface, "Can't open device %s", device); can_bus_device_handler.start_reading(std::ref(*this)); } - can_frame_mutex.unlock(); NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t); return 0; @@ -301,15 +298,6 @@ bool can_bus_t::has_vehicle_message() const /******************************************************************************** * -* 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 * *********************************************************************************/ @@ -319,22 +307,6 @@ 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; @@ -374,14 +346,9 @@ int can_bus_dev_t::open() /* And bind it to txAddress */ if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0) - { ERROR(binder_interface, "Bind failed"); - } else - { - ::fcntl(can_socket_, F_SETFL, O_NONBLOCK); return 0; - } } close(); } diff --git a/src/can-utils.hpp b/src/can-utils.hpp index e4a3d34..11e19f3 100644 --- a/src/can-utils.hpp +++ b/src/can-utils.hpp @@ -326,15 +326,6 @@ 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 @@ -521,8 +512,7 @@ void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, con /** * @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount); - * @brief Post-initialize actions made after CAN bus initialization and before the - * event loop connection. + * @brief Post-initialize actions made after CAN bus initialization * * @param[in] bus - A CanBus struct defining the bus's metadata * @param[in] writable - configure the controller in a writable mode. If false, it will be diff --git a/src/can_reader.cpp b/src/can_reader.cpp index e2f6277..018c7cb 100644 --- a/src/can_reader.cpp +++ b/src/can_reader.cpp @@ -27,13 +27,7 @@ void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus) while(can_bus_dev.is_running()) { - /* Declare and take lock ownership of can_frame_mutex. - * then waiting notification for a new can frame arrival - */ - 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(); + can_message.convert_from_canfd_frame(can_bus_dev.read()); std::lock_guard<std::mutex> can_message_lock(can_message_mutex); can_bus.push_new_can_message(can_message); diff --git a/src/low-can-binding-new.cpp b/src/low-can-binding-new.cpp index 3686c6b..13571f2 100644 --- a/src/low-can-binding-new.cpp +++ b/src/low-can-binding-new.cpp @@ -23,6 +23,65 @@ * Subscription and unsubscription * *********************************************************************************/ +static int subscribe_unsubscribe_signal(struct afb_req request, const std::string& sig) +{ + int ret; + + // TODO: lock the subscribed_signals when insert/remove + const auto& ss_i = subscribed_signals.find(sig); + if (ss_i != subscribed_signals.end()) + { + if(!afb_event_is_valid(ss_i->second)) + { + if(!subscribe) + { + NOTICE(binder_interface, "Event isn't valid, it can't be unsubscribed."); + ret = 1; + } + else + { + ss_i->second = afb_daemon_make_event(binder_interface->daemon, ss_i->first.c_str()); + if (!afb_event_is_valid(ss_i->second)) + { + ERROR(binder_interface, "Can't create an event, something goes wrong."); + ret = 0; + } + } + } + } + else + { + subscribed_signals[sig] = afb_daemon_make_event(binder_interface->daemon, sig); + if (!afb_event_is_valid(ss_i->second)) + { + ERROR(binder_interface, "Can't create an event, something goes wrong."); + ret = 0; + } + } + + if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig])) < 0) + { + ERROR(binder_interface, "Operation goes wrong for signal: %s", sig); + ret = 0; + } + else + ret = 1; + + return ret; +} + +static int subscribe_signals(struct afb_req request, const std::vector<std::string>& signals) +{ + int ret = 0; + + for(const auto& signal_i : signals) + { + ret = subscribe_signal(request, subscribe, signal_i); + if(ret == 0) + return ret; + } + return ret; +} std::vector<std::string> get_name(struct afb_req request) { diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp index ea8803f..2151790 100644 --- a/src/low-can-binding.cpp +++ b/src/low-can-binding.cpp @@ -54,34 +54,6 @@ 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; - - /* Notify reading thread that there is something to read */ - if ((revents & EPOLLIN) != 0) { - new_can_frame.notify_one(); - } - - /* check if error or hangup and reopen the socket and event_loop. - * socket is protected by a mutex */ - if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) - { - std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex); - sd_event_source_unref(s); - can_bus_dev->close(); - can_bus_dev->open(); - can_bus_dev->start_reading(*can_bus_handler); - can_bus_dev->event_loop_connection(); - } - - return 0; -} -/******************************************************************************** -* * Subscription and unsubscription * *********************************************************************************/ diff --git a/src/low-can-binding.hpp b/src/low-can-binding.hpp index 11df1f4..b2b544f 100644 --- a/src/low-can-binding.hpp +++ b/src/low-can-binding.hpp @@ -23,7 +23,4 @@ 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 +extern const struct afb_binding_interface *binder_interface;
\ No newline at end of file |