#pragma once
+#include <utility>
#include <mutex>
#include <queue>
#include <thread>
#include "openxc.pb.h"
#include "can-message.hpp"
-#include "can-bus-dev.hpp"
-#include "can-signals.hpp"
#include "../utils/config-parser.hpp"
-#include "../diagnostic/diagnostic-manager.hpp"
-#include "../low-can-binding.hpp"
+#include "../binding/low-can-hat.hpp"
+#include "../binding/low-can-cb.hpp"
// TODO actual max is 32 but dropped to 24 for memory considerations
#define MAX_ACCEPTANCE_FILTERS 24
#define CAN_ACTIVE_TIMEOUT_S 30
+class diagnostic_manager_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
private:
utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
- int process_can_signals(can_message_t& can_message);
- int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
+ bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
+ void process_can_signals(const can_message_t& can_message);
+ void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
void can_decode_message();
std::thread th_decoding_; ///< thread that'll handle decoding a can frame
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
-
- static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; ///< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
+ std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
+ std::vector<std::pair<std::string, std::string> > can_devices_;
public:
- can_bus_t(utils::config_parser_t conf_file);
+ explicit can_bus_t(utils::config_parser_t conf_file);
can_bus_t(can_bus_t&&);
- int init_can_dev();
- std::vector<std::string> read_conf();
+ void set_can_devices();
+ int get_can_device_index(const std::string& bus_name) const;
+ const std::string get_can_device_name(const std::string& id_name) const;
void start_threads();
void stop_threads();
- can_message_t next_can_message();
+ const 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);
-
- int create_rx_filter(const can_signal_t& signal);
-
- const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
- static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
+ std::pair<int, openxc_VehicleMessage> next_vehicle_message();
+ void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);
};