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-rw-r--r--CAN-binder/low-can-binding/binding/low-can-cb.cpp11
-rw-r--r--CAN-binder/low-can-binding/binding/low-can-hat.hpp5
-rw-r--r--CAN-binder/low-can-binding/can/can-bus.cpp93
-rw-r--r--CAN-binder/low-can-binding/can/can-bus.hpp6
4 files changed, 54 insertions, 61 deletions
diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
index ce829b9..0671f9e 100644
--- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp
+++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
@@ -47,7 +47,7 @@ extern "C"
///
///*******************************************************************************/
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid)
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
if( ! can_subscription->get_diagnostic_message().empty() && can_subscription->get_diagnostic_message(pid) != nullptr)
{
@@ -57,14 +57,11 @@ void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uin
application_t::instance().get_diagnostic_manager().cleanup_request(adr, true);
}
- on_no_clients(can_subscription);
+ on_no_clients(can_subscription, s);
}
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription)
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
auto it = s.find(can_subscription->get_index());
s.erase(it);
}
@@ -208,8 +205,6 @@ static int subscribe_unsubscribe_diagnostic_messages(struct afb_req request, boo
}
else
{
- diag_m.cleanup_request(
- diag_m.find_recurring_request(*diag_req), true);
if(sig->get_supported())
{DEBUG(binder_interface, "%s: %s cancelled due to unsubscribe", __FUNCTION__, sig->get_name().c_str());}
else
diff --git a/CAN-binder/low-can-binding/binding/low-can-hat.hpp b/CAN-binder/low-can-binding/binding/low-can-hat.hpp
index 632dbc9..233d798 100644
--- a/CAN-binder/low-can-binding/binding/low-can-hat.hpp
+++ b/CAN-binder/low-can-binding/binding/low-can-hat.hpp
@@ -19,6 +19,7 @@
#pragma once
#include <cstddef>
+#include <map>
#include <string>
#include <memory>
#include <systemd/sd-event.h>
@@ -34,8 +35,8 @@ extern const struct afb_binding_interface *binder_interface;
class low_can_subscription_t;
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription);
-void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid);
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+void on_no_clients(std::shared_ptr<low_can_subscription_t> can_subscription, uint32_t pid, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata);
void subscribe(struct afb_req request);
diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 5e7ac27..64b0246 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -68,33 +68,27 @@ bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::
/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
///
/// @return How many signals has been decoded.
-void can_bus_t::process_can_signals(const can_message_t& can_message)
+void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int subscription_id = can_message.get_sub_id();
openxc_DynamicField decoded_message;
openxc_VehicleMessage vehicle_message;
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
- {
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+ // First we have to found which can_signal_t it is
+ std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
- // First we have to found which can_signal_t it is
- std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
+ if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+ {
+ bool send = true;
+ decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
+ openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
+ vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
- if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+ if(send && apply_filter(vehicle_message, sig))
{
- bool send = true;
- decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
- openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
- vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
-
- if(send && apply_filter(vehicle_message, sig))
- {
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(subscription_id, vehicle_message);
- DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_name().c_str());
- }
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ push_new_vehicle_message(subscription_id, vehicle_message);
+ DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, sig->get_name().c_str());
}
}
}
@@ -107,26 +101,19 @@ void can_bus_t::process_can_signals(const can_message_t& can_message)
/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
///
/// @return How many signals has been decoded.
-void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
+void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
{
int subscription_id = can_message.get_sub_id();
- utils::signals_manager_t& sm = utils::signals_manager_t::instance();
-
+ openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
+ if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
+ s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
{
- std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
- std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
-
- openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
- if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
- s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+ if (apply_filter(vehicle_message, s[subscription_id]))
{
- if (apply_filter(vehicle_message, s[subscription_id]))
- {
- std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
- push_new_vehicle_message(subscription_id, vehicle_message);
- DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, s[subscription_id]->get_name().c_str());
- }
+ std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+ push_new_vehicle_message(subscription_id, vehicle_message);
+ DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__, s[subscription_id]->get_name().c_str());
}
}
}
@@ -145,22 +132,29 @@ void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const
/// TODO: make diagnostic messages parsing optionnal.
void can_bus_t::can_decode_message()
{
+ utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
while(is_decoding_)
{
+ std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
+ new_can_message_cv_.wait(can_message_lock);
+ while(!can_message_q_.empty())
{
- std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
- new_can_message_cv_.wait(can_message_lock);
- while(!can_message_q_.empty())
- {
- const can_message_t can_message = next_can_message();
+ const can_message_t can_message = next_can_message();
+ can_message_lock.unlock();
+ {
+ std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+ std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
- process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message);
+ {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
else
- process_can_signals(can_message);
+ {process_can_signals(can_message, s);}
}
+ can_message_lock.lock();
}
- new_decoded_can_message_.notify_one();
+ new_decoded_can_message_.notify_one();
+ can_message_lock.unlock();
}
}
@@ -168,7 +162,6 @@ void can_bus_t::can_decode_message()
/// which are events that has to be pushed.
void can_bus_t::can_event_push()
{
- std::pair<int, openxc_VehicleMessage> v_message;
openxc_SimpleMessage s_message;
json_object* jo;
utils::signals_manager_t& sm = utils::signals_manager_t::instance();
@@ -179,11 +172,12 @@ void can_bus_t::can_event_push()
new_decoded_can_message_.wait(decoded_can_message_lock);
while(!vehicle_message_q_.empty())
{
- v_message = next_vehicle_message();
- s_message = get_simple_message(v_message.second);
+ std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
+ decoded_can_message_lock.unlock();
{
std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+ s_message = get_simple_message(v_message.second);
if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
{
jo = json_object_new_object();
@@ -191,12 +185,15 @@ void can_bus_t::can_event_push()
if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
{
if(v_message.second.has_diagnostic_response)
- {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid);}
- on_no_clients(s[v_message.first]);
+ {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
+ else
+ {on_no_clients(s[v_message.first], s);}
}
}
}
+ decoded_can_message_lock.lock();
}
+ decoded_can_message_lock.unlock();
}
}
@@ -332,4 +329,4 @@ const std::string can_bus_t::get_can_device_name(const std::string& id_name) con
}
}
return ret;
-} \ No newline at end of file
+}
diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
index 99d5a30..b19519a 100644
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -29,7 +29,7 @@
#include "can-message.hpp"
#include "../utils/config-parser.hpp"
#include "../binding/low-can-hat.hpp"
-#include "../binding/low-can-cb.hpp"
+#include "../binding/low-can-subscription.hpp"
// TODO actual max is 32 but dropped to 24 for memory considerations
#define MAX_ACCEPTANCE_FILTERS 24
@@ -53,8 +53,8 @@ private:
utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
- void process_can_signals(const can_message_t& can_message);
- void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
+ void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+ void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
void can_decode_message();
std::thread th_decoding_; ///< thread that'll handle decoding a can frame