diff options
Diffstat (limited to 'src/can/can-bus.hpp')
| -rw-r--r-- | src/can/can-bus.hpp | 140 |
1 files changed, 52 insertions, 88 deletions
diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp index 4c26528..4443bf2 100644 --- a/src/can/can-bus.hpp +++ b/src/can/can-bus.hpp @@ -1,6 +1,7 @@ /* - * Copyright (C) 2015, 2016 "IoT.bzh" + * Copyright (C) 2015, 2016, 2017 "IoT.bzh" * Author "Romain Forlot" <romain.forlot@iot.bzh> + * Author "Loïc Collignon" <loic.collignon@iot.bzh> * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -30,6 +31,8 @@ #include "low-can-binding.hpp" +#include "can-bus-dev.hpp" + // TODO actual max is 32 but dropped to 24 for memory considerations #define MAX_ACCEPTANCE_FILTERS 24 // TODO this takes up a ton of memory @@ -37,93 +40,54 @@ #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. - * - * This object is also used to initialize can_bus_dev_t object after reading - * json conf file describing the CAN devices to use. Thus, those object will read - * on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. - * - * That queue will be later used to be decoded and pushed to subscribers. - */ -class can_bus_t { - private: - int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/ - - void can_decode_message(); - std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */ - bool is_decoding_; /*!< boolean member controling thread while loop*/ - - void can_event_push(); - std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */ - bool is_pushing_; /*!< boolean member controling thread while loop*/ - - std::condition_variable new_can_message_cv_; /*!< condition_variable use to wait until there is a new CAN message to read*/ - std::mutex can_message_mutex_; /*!< mutex protecting the can_message_q_ queue.*/ - std::queue <can_message_t> can_message_q_; /*!< queue that'll store can_message_t to decoded */ - - std::condition_variable new_decoded_can_message_; /*!< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_*/ - std::mutex decoded_can_message_mutex_; /*!< mutex protecting the vehicle_message_q_ 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: - can_bus_t(int conf_file); - - int init_can_dev(); - std::vector<std::string> read_conf(); - - - void start_threads(); - void stop_threads(); - - can_message_t next_can_message(); - void push_new_can_message(const can_message_t& can_msg); - std::mutex& get_can_message_mutex(); - std::condition_variable& get_new_can_message_cv(); - - openxc_VehicleMessage next_vehicle_message(); - void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); - - std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices(); -}; - - -/** - * @class can_bus_dev_t - * - * @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. - */ -class can_bus_dev_t { - private: - int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/ - std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */ - int can_socket_; /*!< socket handler for the can device */ - bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */ - struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */ - - std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */ - bool is_running_; /*!< boolean telling whether or not reading is running or not */ - void can_reader(can_bus_t& can_bus); - - public: - can_bus_dev_t(const std::string& dev_name); - - int open(); - int close(); - - void start_reading(can_bus_t& can_bus); - - void stop_reading(); - - std::pair<struct canfd_frame&, size_t> read(); - - int send_can_message(can_message_t& can_msg); +/// @brief Object used to handle decoding and manage event queue to be pushed. +/// +/// This object is also used to initialize can_bus_dev_t object after reading +/// json conf file describing the CAN devices to use. Thus, those object will read +/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. +/// +/// That queue will be later used to be decoded and pushed to subscribers. +class can_bus_t +{ +private: + int conf_file_; /// < configuration file handle used to initialize can_bus_dev_t objects. + + void can_decode_message(); + std::thread th_decoding_; /// < thread that'll handle decoding a can frame + bool is_decoding_; /// < boolean member controling thread while loop + + void can_event_push(); + std::thread th_pushing_; /// < thread that'll handle pushing decoded can frame to subscribers + bool is_pushing_; /// < boolean member controling thread while loop + + std::condition_variable new_can_message_cv_; /// < condition_variable use to wait until there is a new CAN message to read + std::mutex can_message_mutex_; /// < mutex protecting the can_message_q_ queue. + std::queue <can_message_t> can_message_q_; /// < queue that'll store can_message_t to decoded + + std::condition_variable new_decoded_can_message_; /// < condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_ + std::mutex decoded_can_message_mutex_; /// < mutex protecting the vehicle_message_q_ 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: + can_bus_t(int conf_file); + + int init_can_dev(); + std::vector<std::string> read_conf(); + + void start_threads(); + void stop_threads(); + + can_message_t next_can_message(); + void push_new_can_message(const can_message_t& can_msg); + std::mutex& get_can_message_mutex(); + std::condition_variable& get_new_can_message_cv(); + + openxc_VehicleMessage next_vehicle_message(); + void push_new_vehicle_message(const openxc_VehicleMessage& v_msg); + + std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices(); }; /// TODO: implement this function as method into can_bus class |