diff options
Diffstat (limited to 'src/can-utils.cpp')
| -rw-r--r-- | src/can-utils.cpp | 70 |
1 files changed, 33 insertions, 37 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp index f10b968..16e18b4 100644 --- a/src/can-utils.cpp +++ b/src/can-utils.cpp @@ -24,9 +24,8 @@ *********************************************************************************/ CanBus_c::CanBus_c(afb_binding_interface *itf, const std:string& dev_name) + : interface{itf}, deviceName{dev_name} { - interface = itf; - deviceName = dev_name; } int CanBus_c::open() @@ -36,10 +35,10 @@ int CanBus_c::open() struct timeval timeout = {1, 0}; DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket); - if (socket >= 0) - close(socket); + if (can_socket_ >= 0) + return 0; - socket = socket(PF_CAN, SOCK_RAW, CAN_RAW); + can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW); if (socket < 0) { ERROR(interface, "open_can_dev: socket could not be created"); @@ -47,9 +46,9 @@ int CanBus_c::open() else { /* Set timeout for read */ - setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); + ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout)); /* try to switch the socket into CAN_FD mode */ - if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) + if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0) { NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format."); is_fdmode_on = false; @@ -58,8 +57,8 @@ int CanBus_c::open() } /* Attempts to open a socket to CAN bus */ - strcpy(ifr.ifr_name, device); - if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0) + ::strcpy(ifr.ifr_name, device); + if(ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0) ERROR(interface, "open_can_dev: ioctl failed"); else { @@ -67,35 +66,32 @@ int CanBus_c::open() txAddress.can_ifindex = ifr.ifr_ifindex; /* And bind it to txAddress */ - if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0) + if (::bind(can_socket_, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0) { ERROR(interface, "open_can_dev: bind failed"); } else { - fcntl(socket, F_SETFL, O_NONBLOCK); + ::fcntl(can_socket_, F_SETFL, O_NONBLOCK); return 0; } } - close(socket); - socket = -1; + close(); } return -1; } int CanBus_c::close() { - close(socket); - socket = -1; + ::close(can_socket_); + can_socket_ = -1; } void CanBus_c::start_threads() { - std::queue <CanMessage_c> can_message_q; - - th_reading = std::thread(can_reader, interface, socket, can_message_q); - th_decoding = std::thread(can_decoder, interface, can_message_q, can_message_q); - th_pushing = std::thread(can_event_push, interface, can_message_q); + th_reading_ = std::thread(can_reader, interface, socket, can_message_q_); + th_decoding_ = std::thread(can_decoder, interface, can_message_q, can_message_q_); + th_pushing_ = std::thread(can_event_push, interface, can_message_q_); } /* @@ -108,22 +104,22 @@ int CanBus_c::send_can_message(CanMessage_c can_msg) f = can_msg.convert_to_canfd_frame(); - if(socket >= 0) + if(can_socket_ >= 0) { - nbytes = sendto(socket, &f, sizeof(struct canfd_frame), 0, + nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0, (struct sockaddr*)&txAddress, sizeof(txAddress)); if (nbytes == -1) { - ERROR(interface, "send_can_message: Sending CAN frame failed."); + ERROR(interface_, "send_can_message: Sending CAN frame failed."); return -1; } return nbytes; } else { - ERROR(interface, "send_can_message: socket not initialized. Attempt to reopen can device socket."); - open_can_dev(); + ERROR(interface_, "send_can_message: socket not initialized. Attempt to reopen can device socket."); + open(); } return 0; } @@ -136,10 +132,10 @@ int CanBus_c::send_can_message(CanMessage_c can_msg) */ CanMessage_c* CanBus_c::next_can_message() { - if(! can_message_q.empty()) + if(! can_message_q_.empty()) { - CanMessage_c can_msg = can_message_q.front(); - can_message_q.pop() + CanMessage_c can_msg = can_message_q_.front(); + can_message_q_.pop() return &can_msg; } @@ -148,7 +144,7 @@ CanMessage_c* CanBus_c::next_can_message() void CanBus_c::insert_new_can_message(CanMessage_c *can_msg) { - can_message_q.push(can_msg); + can_message_q_.push(can_msg); } /* @@ -159,10 +155,10 @@ void CanBus_c::insert_new_can_message(CanMessage_c *can_msg) */ openxc_VehicleMessage* CanBus_c::next_vehicle_message() { - if(! vehicle_message_q.empty()) + if(! vehicle_message_q_.empty()) { - openxc_VehicleMessage v_msg = vehicle_message_q.front(); - vehicle_message_q.pop() + openxc_VehicleMessage v_msg = vehicle_message_q_.front(); + vehicle_message_q_.pop(); return &v_msg; } @@ -171,7 +167,7 @@ openxc_VehicleMessage* CanBus_c::next_vehicle_message() void CanBus_c::insert_new_vehicle_message(openxc_VehicleMessage *v_msg) { - vehicle_message_q.push(v_msg); + vehicle_message_q_.push(v_msg); } /******************************************************************************** * @@ -179,21 +175,21 @@ void CanBus_c::insert_new_vehicle_message(openxc_VehicleMessage *v_msg) * *********************************************************************************/ -uint32_t CanMessage_c::get_id() +uint32_t CanMessage_c::get_id() const { return id; } -int CanMessage_c::get_format() +int CanMessage_c::get_format() const { return format; } -uint8_t CanMessage_c::get_data() +uint8_t CanMessage_c::get_data() const { return data; } -uint8_t CanMessage_c::get_lenght() +uint8_t CanMessage_c::get_lenght() const { return lenght; } |