1 files changed, 54 insertions, 63 deletions

diff --git a/src/can-utils.hpp b/src/can-utils.hpp
index 8b64cb3..db97b4b 100644
--- a/src/can-utils.hpp
+++ b/src/can-utils.hpp
@@ -62,6 +62,55 @@ typedef openxc_DynamicField (*SignalDecoder)(struct CanSignal* signal,
 typedef uint64_t (*SignalEncoder)(struct CanSignal* signal,
 		openxc_DynamicField* value, bool* send);
 
+/* Public: The ID format for a CAN message.
+ *
+ * STANDARD - standard 11-bit CAN arbitration ID.
+ * EXTENDED - an extended frame, with a 29-bit arbitration ID.
+ */
+enum CanMessageFormat {
+	STANDARD,
+	EXTENDED,
+};
+typedef enum CanMessageFormat CanMessageFormat;
+
+/* A compact representation of a single CAN message, meant to be used in in/out
+ * buffers.
+ *
+ * id - The ID of the message.
+ * format - the format of the message's ID.
+ * data  - The message's data field.
+ * length - the length of the data array (max 8).
+struct CanMessage {
+	uint32_t id;
+	CanMessageFormat format;
+	uint8_t data[CAN_MESSAGE_SIZE];
+	uint8_t length;
+};
+typedef struct CanMessage CanMessage;
+*/
+class can_message_t {
+	private:
+		afb_binding_interface interface_;
+		uint32_t id_;
+		CanMessageFormat format_;
+		uint8_t data_[CAN_MESSAGE_SIZE];
+		uint8_t length_;
+
+	public:
+		uint32_t get_id() const;
+		int get_format() const;
+		uint8_t get_data() const;
+		uint8_t get_lenght() const;
+
+		void set_id(uint32_t id);
+		void set_format(CanMessageFormat format);
+		void set_data(uint8_t data);
+		void set_lenght(uint8_t length);
+
+		void convert_from_canfd_frame(canfd_frame frame);
+		canfd_frame convert_to_canfd_frame();
+};
+
 /** 
  * @brief Object representing a can device. Handle opening, closing and reading on the
  * socket. This is the low level object to be use by can_bus_t.
@@ -91,8 +140,7 @@ class can_bus_dev_t {
 		can_message_t* next_can_message();
 		void push_new_can_message(const can_message_t& can_msg);		
 		bool has_can_message() const;
-}
-
+};
 
 /** 
  * @brief Object used to handle decoding and manage event queue to be pushed.
@@ -112,11 +160,11 @@ class can_bus_t {
 		std::queue <openxc_VehicleMessage> vehicle_message_q_;
 
 	public:
+		int init_can_dev();
+		std::vector<std::string> read_conf();
+		
 		void start_threads();
 		
-		void init_can_dev(std::ifstream& conf_file);
-		std::vector<std::string> read_conf()
-
 		int send_can_message(can_message_t can_msg);
 
 		openxc_VehicleMessage& next_vehicle_message();
@@ -124,57 +172,6 @@ class can_bus_t {
 		bool has_vehicle_message() const;
 };
 
-/* A compact representation of a single CAN message, meant to be used in in/out
- * buffers.
- *
- * id - The ID of the message.
- * format - the format of the message's ID.
- * data  - The message's data field.
- * length - the length of the data array (max 8).
-struct CanMessage {
-	uint32_t id;
-	CanMessageFormat format;
-	uint8_t data[CAN_MESSAGE_SIZE];
-	uint8_t length;
-};
-typedef struct CanMessage CanMessage;
-*/
-class can_message_t {
-	private:
-		afb_binding_interface interface_;
-		uint32_t id_;
-		CanMessageFormat format_;
-		uint8_t data_[CAN_MESSAGE_SIZE];
-		uint8_t length_;
-
-	public:
-		uint32_t get_id() const;
-		int get_format() const;
-		uint8_t get_data() const;
-		uint8_t get_lenght() const;
-
-		void set_id(uint32_t id);
-		void set_format(CanMessageFormat format);
-		void set_data(uint8_t data);
-		void set_lenght(uint8_t length);
-
-		void convert_from_canfd_frame(canfd_frame frame);
-		canfd_frame convert_to_canfd_frame();
-};
-
-QUEUE_DECLARE(can_message_t, 8);
-
-/* Public: The ID format for a CAN message.
- *
- * STANDARD - standard 11-bit CAN arbitration ID.
- * EXTENDED - an extended frame, with a 29-bit arbitration ID.
- */
-enum CanMessageFormat {
-	STANDARD,
-	EXTENDED,
-};
-typedef enum CanMessageFormat CanMessageFormat;
-
 /* Public: A state encoded (SED) signal's mapping from numerical values to
  * OpenXC state names.
  *
@@ -346,17 +343,11 @@ typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
  * genericName - The name of the command.
  * handler - An function to process the received command's data and perform some
  *		action.
+ */
 typedef struct {
 	const char* genericName;
 	CommandHandler handler;
 } CanCommand;
- */
-
-class CanCommand_c {
-	private:
-		const char* genericName;
-		CommandHandler handler;
-};
 
 /* Pre initialize actions made before CAN bus initialization
  *