/*
 * Copyright (C) 2015, 2016 "IoT.bzh"
 * Author "Romain Forlot" <romain.forlot@iot.bzh>
 * Author "Loic 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.
 * You may obtain a copy of the License at
 *
 *	 http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "can_reader.hpp"

#include "low-can-binding.hpp"
#include "can-utils.hpp"

void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus)
{
	can_message_t can_message;

	while(can_bus_dev.is_running())
	{
		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();

		std::lock_guard<std::mutex> can_message_lock(can_message_mutex);
			can_bus.push_new_can_message(can_message);
		can_message_mutex.unlock();
		new_can_message.notify_one();
	}
}