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-rw-r--r--src/can-utils.cpp33
-rw-r--r--src/can-utils.hpp12
-rw-r--r--src/can_reader.cpp8
-rw-r--r--src/low-can-binding-new.cpp59
-rw-r--r--src/low-can-binding.cpp28
-rw-r--r--src/low-can-binding.hpp5
6 files changed, 62 insertions, 83 deletions
diff --git a/src/can-utils.cpp b/src/can-utils.cpp
index 8a91bd1..c6f2d57 100644
--- a/src/can-utils.cpp
+++ b/src/can-utils.cpp
@@ -28,7 +28,6 @@
#include <sys/socket.h>
#include <json-c/json.h>
#include <linux/can/raw.h>
-#include <systemd/sd-event.h>
extern "C"
{
@@ -187,7 +186,6 @@ int can_bus_t::init_can_dev()
t = devices_name.size();
i=0;
- std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex);
for(const auto& device : devices_name)
{
can_bus_dev_t can_bus_device_handler(device);
@@ -197,7 +195,6 @@ int can_bus_t::init_can_dev()
ERROR(binder_interface, "Can't open device %s", device);
can_bus_device_handler.start_reading(std::ref(*this));
}
- can_frame_mutex.unlock();
NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
return 0;
@@ -301,15 +298,6 @@ bool can_bus_t::has_vehicle_message() const
/********************************************************************************
*
-* This is the sd_event_add_io callback function declaration.
-* Its implementation can be found into low-can-binding.cpp.
-*
-*********************************************************************************/
-
-int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata);
-
-/********************************************************************************
-*
* can_bus_dev_t method implementation
*
*********************************************************************************/
@@ -319,22 +307,6 @@ can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
{
}
-int can_bus_dev_t::event_loop_connection()
-{
- sd_event_source *source;
- int rc;
-
- /* adds to the event loop */
- rc = sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &source, can_socket_, EPOLLIN, can_frame_received, this);
- if (rc < 0) {
- close();
- ERROR(binder_interface, "Can't coonect CAN device %s to the event loop", device_name_);
- } else {
- NOTICE(binder_interface, "Connected to %s", device_name_);
- }
- return rc;
-}
-
int can_bus_dev_t::open()
{
const int canfd_on = 1;
@@ -374,14 +346,9 @@ int can_bus_dev_t::open()
/* And bind it to txAddress */
if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
- {
ERROR(binder_interface, "Bind failed");
- }
else
- {
- ::fcntl(can_socket_, F_SETFL, O_NONBLOCK);
return 0;
- }
}
close();
}
diff --git a/src/can-utils.hpp b/src/can-utils.hpp
index e4a3d34..11e19f3 100644
--- a/src/can-utils.hpp
+++ b/src/can-utils.hpp
@@ -326,15 +326,6 @@ class can_bus_dev_t {
can_bus_dev_t(const std::string& dev_name);
/**
- * @brief Connect to the application framework event loop and adding
- * a watch on the socket that will wakeup reading thread that will
- * read the socket and fill can_bus_t object queue.
- *
- * @return 0 if success, anything else if not.
- */
- int event_loop_connection();
-
- /**
* @brief Open the can socket and returning it
*
* @return
@@ -521,8 +512,7 @@ void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, con
/**
* @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
- * @brief Post-initialize actions made after CAN bus initialization and before the
- * event loop connection.
+ * @brief Post-initialize actions made after CAN bus initialization
*
* @param[in] bus - A CanBus struct defining the bus's metadata
* @param[in] writable - configure the controller in a writable mode. If false, it will be
diff --git a/src/can_reader.cpp b/src/can_reader.cpp
index e2f6277..018c7cb 100644
--- a/src/can_reader.cpp
+++ b/src/can_reader.cpp
@@ -27,13 +27,7 @@ void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus)
while(can_bus_dev.is_running())
{
- /* Declare and take lock ownership of can_frame_mutex.
- * then waiting notification for a new can frame arrival
- */
- std::unique_lock<std::mutex> can_frame_lock(can_frame_mutex);
- new_can_frame.wait(can_frame_lock);
- can_message.convert_from_canfd_frame(can_bus_dev.read());
- can_frame_mutex.unlock();
+ can_message.convert_from_canfd_frame(can_bus_dev.read());
std::lock_guard<std::mutex> can_message_lock(can_message_mutex);
can_bus.push_new_can_message(can_message);
diff --git a/src/low-can-binding-new.cpp b/src/low-can-binding-new.cpp
index 3686c6b..13571f2 100644
--- a/src/low-can-binding-new.cpp
+++ b/src/low-can-binding-new.cpp
@@ -23,6 +23,65 @@
* Subscription and unsubscription
*
*********************************************************************************/
+static int subscribe_unsubscribe_signal(struct afb_req request, const std::string& sig)
+{
+ int ret;
+
+ // TODO: lock the subscribed_signals when insert/remove
+ const auto& ss_i = subscribed_signals.find(sig);
+ if (ss_i != subscribed_signals.end())
+ {
+ if(!afb_event_is_valid(ss_i->second))
+ {
+ if(!subscribe)
+ {
+ NOTICE(binder_interface, "Event isn't valid, it can't be unsubscribed.");
+ ret = 1;
+ }
+ else
+ {
+ ss_i->second = afb_daemon_make_event(binder_interface->daemon, ss_i->first.c_str());
+ if (!afb_event_is_valid(ss_i->second))
+ {
+ ERROR(binder_interface, "Can't create an event, something goes wrong.");
+ ret = 0;
+ }
+ }
+ }
+ }
+ else
+ {
+ subscribed_signals[sig] = afb_daemon_make_event(binder_interface->daemon, sig);
+ if (!afb_event_is_valid(ss_i->second))
+ {
+ ERROR(binder_interface, "Can't create an event, something goes wrong.");
+ ret = 0;
+ }
+ }
+
+ if (((subscribe ? afb_req_subscribe : afb_req_unsubscribe)(request, subscribed_signals[sig])) < 0)
+ {
+ ERROR(binder_interface, "Operation goes wrong for signal: %s", sig);
+ ret = 0;
+ }
+ else
+ ret = 1;
+
+ return ret;
+}
+
+static int subscribe_signals(struct afb_req request, const std::vector<std::string>& signals)
+{
+ int ret = 0;
+
+ for(const auto& signal_i : signals)
+ {
+ ret = subscribe_signal(request, subscribe, signal_i);
+ if(ret == 0)
+ return ret;
+ }
+ return ret;
+}
std::vector<std::string> get_name(struct afb_req request)
{
diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index ea8803f..2151790 100644
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -54,34 +54,6 @@ can_bus_t *can_bus_handler;
/********************************************************************************
*
-* Event management
-*
-*********************************************************************************/
-int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata)
-{
- can_bus_dev_t *can_bus_dev = (can_bus_dev_t*)userdata;
-
- /* Notify reading thread that there is something to read */
- if ((revents & EPOLLIN) != 0) {
- new_can_frame.notify_one();
- }
-
- /* check if error or hangup and reopen the socket and event_loop.
- * socket is protected by a mutex */
- if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
- {
- std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex);
- sd_event_source_unref(s);
- can_bus_dev->close();
- can_bus_dev->open();
- can_bus_dev->start_reading(*can_bus_handler);
- can_bus_dev->event_loop_connection();
- }
-
- return 0;
-}
-/********************************************************************************
-*
* Subscription and unsubscription
*
*********************************************************************************/
diff --git a/src/low-can-binding.hpp b/src/low-can-binding.hpp
index 11df1f4..b2b544f 100644
--- a/src/low-can-binding.hpp
+++ b/src/low-can-binding.hpp
@@ -23,7 +23,4 @@
extern "C" struct afb_binding_interface;
-extern const struct afb_binding_interface *binder_interface;
-
-extern std::condition_variable new_can_frame;
-extern std::mutex can_frame_mutex; \ No newline at end of file
+extern const struct afb_binding_interface *binder_interface; \ No newline at end of file