diff options
| -rw-r--r-- | src/can-bus.cpp | 42 | ||||
| -rw-r--r-- | src/can-bus.hpp | 17 | ||||
| -rw-r--r-- | src/low-can-binding.cpp | 8 |
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"); |