src/can_reader.cpp

   1 /*
   2  * Copyright (C) 2015, 2016 "IoT.bzh"
   3  * Author "Romain Forlot" <romain.forlot@iot.bzh>
   4  * Author "Loic Collignon" <loic.collignon@iot.bzh>
   5  *
   6  * Licensed under the Apache License, Version 2.0 (the "License");
   7  * you may not use this file except in compliance with the License.
   8  * You may obtain a copy of the License at
   9  *
  10  *       http://www.apache.org/licenses/LICENSE-2.0
  11  *
  12  * Unless required by applicable law or agreed to in writing, software
  13  * distributed under the License is distributed on an "AS IS" BASIS,
  14  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  15  * See the License for the specific language governing permissions and
  16  * limitations under the License.
  17  */
  18
  19 #include "can_reader.hpp"
  20
  21 #include "low-can-binding.hpp"
  22 #include "can-utils.hpp"
  23
  24 void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus)
  25 {
  26         can_message_t can_message;
  27
  28         while(can_bus_dev.is_running())
  29         {
  30                 std::unique_lock<std::mutex> can_frame_lock(can_frame_mutex);
  31                 new_can_frame.wait(can_frame_lock);
  32                         can_message.convert_from_canfd_frame(can_bus_dev.read());
  33                 can_frame_mutex.unlock();
  34
  35                 std::lock_guard<std::mutex> can_message_lock(can_message_mutex);
  36                         can_bus.push_new_can_message(can_message);
  37                 can_message_mutex.unlock();
  38                 new_can_message.notify_one();
  39         }
  40 }