Make and use a single function to read incoming CAN messages

[apps/agl-service-can-low-level.git] / CAN-binder / low-can-binding / binding / low-can-cb.cpp

diff --git a/CAN-binder/low-can-binding/binding/low-can-cb.cpp b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
index d298779..4faae85 100644 (file)
--- a/CAN-binder/low-can-binding/binding/low-can-cb.cpp
+++ b/CAN-binder/low-can-binding/binding/low-can-cb.cpp
@@ -52,33 +52,50 @@ void on_no_clients(std::string message)
        }
 }
 
-int read_can_signal(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+static void push_n_notify(const can_message_t cm)
 {
-       can_signal_t* sig= (can_signal_t*)userdata;
-       sig->read_socket();
-
-       /* check if error or hangup */
-       if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
-       {
-               sd_event_source_unref(s);
-               sig->get_socket().close();
-               sig->create_rx_filter();
-       }
-       return 0;
+       can_bus_t& cbm = configuration_t::instance().get_can_bus_manager();
+       std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
+       { cbm.push_new_can_message(cm); }
+       cbm.get_new_can_message_cv().notify_one();
 }
 
-int read_diagnostic_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+int read_message(sd_event_source *s, int fd, uint32_t revents, void *userdata)
 {
+       can_message_t cm;
+       can_signal_t* sig;
        diagnostic_manager_t& diag_m = configuration_t::instance().get_diagnostic_manager();
-       diag_m.read_socket();
+
+       if(userdata != nullptr)
+       {
+               sig = (can_signal_t*)userdata;
+               utils::socketcan_bcm_t s = sig->get_socket();
+               s >> cm;
+       }
+       else
+       {
+               utils::socketcan_bcm_t s = diag_m.get_socket();
+               s >> cm;
+       }
+
+       push_n_notify(cm);
 
        /* check if error or hangup */
        if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
        {
                sd_event_source_unref(s);
-               diag_m.get_socket().close();
-               diag_m.cleanup_active_requests(true);
-               ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
+               if(userdata != nullptr)
+               {
+                       sig->get_socket().close();
+                       sig->create_rx_filter();
+                       NOTICE(binder_interface, "%s: Recreated RX_SETUP BCM job for signal: %s", __FUNCTION__, sig->get_name().c_str());
+               }
+               else
+               {
+                       diag_m.get_socket().close();
+                       diag_m.cleanup_active_requests(true);
+                       ERROR(binder_interface, "%s: Error on diagnostic manager socket, cancelling active requests.", __FUNCTION__);
+               }
                return -1;
        }
 
@@ -207,7 +224,7 @@ static int subscribe_unsubscribe_signals(struct afb_req request, bool subscribe,
                        return -1;
                }
                struct sd_event_source* e_source;
-               sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read_can_signal, sig.get());
+               sd_event_add_io(afb_daemon_get_event_loop(binder_interface->daemon), &e_source, sig->get_socket().socket(), EPOLLIN, read_message, sig.get());
                rets++;
                DEBUG(binder_interface, "%s: signal: %s subscribed", __FUNCTION__, sig->get_name().c_str());
        }