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Implement a new method returning the can device
[apps/agl-service-can-low-level.git]
/
src
/
can-bus.cpp
diff --git
a/src/can-bus.cpp
b/src/can-bus.cpp
index
f4a6d55
..
355997f
100644
(file)
--- a/
src/can-bus.cpp
+++ b/
src/can-bus.cpp
@@
-43,7
+43,7
@@
extern "C"
*
*********************************************************************************/
*
*********************************************************************************/
-can_bus_t::can_bus_t(int
&
conf_file)
+can_bus_t::can_bus_t(int conf_file)
: conf_file_{conf_file}
{
}
: conf_file_{conf_file}
{
}
@@
-59,7
+59,7
@@
void can_bus_t::can_decode_message()
decoder_t decoder;
DEBUG(binder_interface, "Beginning of decoding thread.");
decoder_t decoder;
DEBUG(binder_interface, "Beginning of decoding thread.");
- while(is_decoding
()
)
+ while(is_decoding
_
)
{
{
std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
{
{
std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
@@
-102,7
+102,7
@@
void can_bus_t::can_event_push()
json_object* jo;
DEBUG(binder_interface, "Beginning of the pushing thread");
json_object* jo;
DEBUG(binder_interface, "Beginning of the pushing thread");
- while(is_pushing
()
)
+ while(is_pushing
_
)
{
{
std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
{
{
std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
@@
-128,10
+128,15
@@
void can_bus_t::can_event_push()
void can_bus_t::start_threads()
{
void can_bus_t::start_threads()
{
- th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
is_decoding_ = true;
is_decoding_ = true;
- th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+ th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
+ if(!th_decoding_.joinable())
+ is_decoding_ = false;
+
is_pushing_ = true;
is_pushing_ = true;
+ th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+ if(!th_pushing_.joinable())
+ is_pushing_ = false;
}
void can_bus_t::stop_threads()
}
void can_bus_t::stop_threads()
@@
-142,16
+147,6
@@
void can_bus_t::stop_threads()
th_pushing_.join();
}
th_pushing_.join();
}
-bool can_bus_t::is_decoding()
-{
- return is_decoding_;
-}
-
-bool can_bus_t::is_pushing()
-{
- return is_pushing_;
-}
-
int can_bus_t::init_can_dev()
{
std::vector<std::string> devices_name;
int can_bus_t::init_can_dev()
{
std::vector<std::string> devices_name;
@@
-167,12
+162,12
@@
int can_bus_t::init_can_dev()
for(const auto& device : devices_name)
{
for(const auto& device : devices_name)
{
- can_
bus_dev_t can_bus_device_handler
(device);
- if (can_
bus_device_handler.
open() == 0)
+ can_
devices_m_[device] = std::make_shared<can_bus_dev_t>
(device);
+ if (can_
devices_m_[device]->
open() == 0)
{
i++;
DEBUG(binder_interface, "Start reading thread");
{
i++;
DEBUG(binder_interface, "Start reading thread");
- can_
bus_device_handler.start_reading(std::ref(*this)
);
+ can_
devices_m_[device]->start_reading(*this
);
}
else
ERROR(binder_interface, "Can't open device %s", device.c_str());
}
else
ERROR(binder_interface, "Can't open device %s", device.c_str());
@@
-284,6
+279,11
@@
void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
has_vehicle_message_ = true;
}
has_vehicle_message_ = true;
}
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices();
+{
+ return can_devices_m_;
+}
+
/********************************************************************************
*
* can_bus_dev_t method implementation
/********************************************************************************
*
* can_bus_dev_t method implementation
@@
-394,16
+394,13
@@
canfd_frame can_bus_dev_t::read()
return canfd_frame;
}
return canfd_frame;
}
-bool can_bus_dev_t::is_running()
-{
- return is_running_;
-}
-
void can_bus_dev_t::start_reading(can_bus_t& can_bus)
{
DEBUG(binder_interface, "Launching reading thread");
void can_bus_dev_t::start_reading(can_bus_t& can_bus)
{
DEBUG(binder_interface, "Launching reading thread");
- th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
is_running_ = true;
is_running_ = true;
+ th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
+ if(!th_reading_.joinable())
+ is_running_ = false;
}
void can_bus_dev_t::stop_reading()
}
void can_bus_dev_t::stop_reading()
@@
-417,7
+414,7
@@
void can_bus_dev_t::can_reader(can_bus_t& can_bus)
can_message_t can_message;
DEBUG(binder_interface, "Beginning of reading thread");
can_message_t can_message;
DEBUG(binder_interface, "Beginning of reading thread");
- while(is_running
()
)
+ while(is_running
_
)
{
can_message.convert_from_canfd_frame(read());
{
can_message.convert_from_canfd_frame(read());