#include "can-signals.hpp"
#include "can-decoder.hpp"
-#include "../configuration.hpp"
+#include "../binding/configuration.hpp"
#include "../utils/signals.hpp"
#include "../utils/openxc-utils.hpp"
: conf_file_{conf_file}
{}
-std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
-
-/// @brief Listen for all device sockets and fill can_messages_queue with them.
-/// Reading blocks until message arrive on listened sockets.
-///
-/// @return 0 if ok -1 if not
-int can_bus_t::can_reader()
-{
- fd_set rfds;
- int sock_max = INVALID_SOCKET;
-
- FD_ZERO(&rfds);
-
- for(auto& can_dev : can_devices_)
- {
- FD_SET(can_dev.second->get_socket().socket(), &rfds);
- if (sock_max < can_dev.second->get_socket().socket())
- sock_max = can_dev.second->get_socket().socket();
- }
-
- int ret;
- while(is_reading_)
- {
- ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr);
-
- if(ret == -1)
- perror("select()");
- else if(ret > 0)
- {
- for(const auto& s: can_devices_)
- {
- if(FD_ISSET(s.second->get_socket().socket(), &rfds))
- {
- can_message_t msg;
- s.second->get_socket() >> msg;
- push_new_can_message(msg);
- }
- }
- }
- else
- printf("Timeout\n");
- }
- return 0;
-}
-
/// @brief Will make the decoding operation on a classic CAN message. It will not
/// handle CAN commands nor diagnostic messages that have their own method to get
/// this happens.
/// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
///
/// @return How many signals has been decoded.
-int can_bus_t::process_can_signals(can_message_t& can_message)
+int can_bus_t::process_can_signals(const can_message_t& can_message)
{
int processed_signals = 0;
struct utils::signals_found signals;
signals = sm.find_signals(search_key);
// Decoding the message ! Don't kill the messenger !
- for(auto& sig : signals.can_signals)
+ for(const auto& sig : signals.can_signals)
{
std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
std::map<std::string, struct afb_event>& s = sm.get_subscribed_signals();
- // DEBUG message to make easier debugger STL containers...
- //DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
- //DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
- //DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
- //DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name));
if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()]))
{
bool send = true;
/// and push subscribed events.
void can_bus_t::start_threads()
{
- is_reading_ = true;
- th_reading_ = std::thread(&can_bus_t::can_reader, this);
- if(!th_reading_.joinable())
- is_reading_ = false;
-
is_decoding_ = true;
th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
if(!th_decoding_.joinable())
/// they'll finish their job.
void can_bus_t::stop_threads()
{
- is_reading_ = false;
is_decoding_ = false;
is_pushing_ = false;
}
-/// @brief Will initialize can_bus_dev_t objects after reading
-/// the configuration file passed in the constructor. All CAN buses
-/// Initialized here will be added to a vector holding them for
-/// inventory and later access.
-///
-/// That will initialize CAN socket reading too using a new thread.
-///
-/// @return 0 if ok, other if not.
-int can_bus_t::init_can_dev()
-{
- std::vector<std::string> devices_name;
- int i = 0;
- size_t t;
-
- if(conf_file_.check_conf())
- {
- devices_name = conf_file_.get_devices_name();
- if (! devices_name.empty())
- {
- t = devices_name.size();
-
- for(const auto& device : devices_name)
- {
- can_bus_t::can_devices_[device] = std::make_shared<can_bus_dev_t>(device, i);
- if (can_bus_t::can_devices_[device]->open() >= 0)
- {
- can_bus_t::can_devices_[device]->configure();
- DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
- NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
- //can_bus_t::can_devices_[device]->start_reading(*this);
- i++;
- }
- else
- {
- ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str());
- return 1;
- }
- }
- NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t);
- return 0;
- }
- ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__);
- return 1;
- }
- ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__);
- return 2;
-}
-
/// @brief return new_can_message_cv_ member
///
/// @return return new_can_message_cv_ member
vehicle_message_q_.push(v_msg);
}
-/// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal.
-///
-/// @return 0 if ok -1 if not.
- int can_bus_t::create_rx_filter(const can_signal_t& s)
- {
- const std::string& bus = s.get_message().get_bus_name();
- return can_bus_t::can_devices_[bus]->create_rx_filter(s);
- }
-
-/// @brief Return a map with the can_bus_dev_t initialized
-///
-/// @return map can_bus_dev_m_ map
-const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& can_bus_t::get_can_devices() const
-{
- return can_bus_t::can_devices_;
-}
-
/// @brief Return the shared pointer on the can_bus_dev_t initialized
/// with device_name "bus"
///
/// @param[in] bus - CAN bus device name to retrieve.
///
/// @return A shared pointer on an object can_bus_dev_t
-std::shared_ptr<can_bus_dev_t> can_bus_t::get_can_device(std::string bus)
+void can_bus_t::set_can_devices()
{
- return can_bus_t::can_devices_[bus];
+ can_devices_ = conf_file_.get_devices_name();
+}
+
+int can_bus_t::get_can_device_index(std::string bus_name) const
+{
+ int i = 0;
+ for(const auto& d: can_devices_)
+ {
+ if(d.first == bus_name)
+ break;
+ i++;
+ }
+ return i;
}
+
+std::string can_bus_t::get_can_device_name(std::string id_name) const
+{
+ std::string ret;
+ for(const auto& d: can_devices_)
+ {
+ if(d.first == id_name)
+ {
+ ret = d.second;
+ break;
+ }
+ }
+ return ret;
+}
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff