Improve reliability on multi-threading.

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

diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 5e7ac27..64b0246 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -68,33 +68,27 @@ bool can_bus_t::apply_filter(const openxc_VehicleMessage& vehicle_message, std::
 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 ///
 /// @return How many signals has been decoded.
-void can_bus_t::process_can_signals(const can_message_t& can_message)
+void can_bus_t::process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 {
        int subscription_id = can_message.get_sub_id();
        openxc_DynamicField decoded_message;
        openxc_VehicleMessage vehicle_message;
-       utils::signals_manager_t& sm = utils::signals_manager_t::instance();
 
-       {
-               std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
-               std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+       // First we have to found which can_signal_t it is
+       std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
 
-               // First we have to found which can_signal_t it is
-               std::shared_ptr<low_can_subscription_t> sig = s[subscription_id];
+       if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+       {
+               bool send = true;
+               decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
+               openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
+               vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
 
-               if( s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+               if(send && apply_filter(vehicle_message, sig))
                {
-                       bool send = true;
-                       decoded_message = decoder_t::translateSignal(*sig->get_can_signal(), can_message, application_t::instance().get_all_can_signals(), &send);
-                       openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
-                       vehicle_message = build_VehicleMessage(s_message, can_message.get_timestamp());
-
-                       if(send && apply_filter(vehicle_message, sig))
-                       {
-                               std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
-                               push_new_vehicle_message(subscription_id, vehicle_message);
-                               DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  sig->get_name().c_str());
-                       }
+                       std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+                       push_new_vehicle_message(subscription_id, vehicle_message);
+                       DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  sig->get_name().c_str());
                }
        }
 }
@@ -107,26 +101,19 @@ void can_bus_t::process_can_signals(const can_message_t& can_message)
 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 ///
 /// @return How many signals has been decoded.
-void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message)
+void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s)
 {
        int subscription_id = can_message.get_sub_id();
 
-       utils::signals_manager_t& sm = utils::signals_manager_t::instance();
-
+       openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
+       if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
+               s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
        {
-               std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
-               std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
-
-               openxc_VehicleMessage vehicle_message = manager.find_and_decode_adr(can_message);
-               if( (vehicle_message.has_simple_message && vehicle_message.simple_message.has_name) &&
-                       s.find(subscription_id) != s.end() && afb_event_is_valid(s[subscription_id]->get_event()))
+               if (apply_filter(vehicle_message, s[subscription_id]))
                {
-                       if (apply_filter(vehicle_message, s[subscription_id]))
-                       {
-                               std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
-                               push_new_vehicle_message(subscription_id, vehicle_message);
-                               DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  s[subscription_id]->get_name().c_str());
-                       }
+                       std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+                       push_new_vehicle_message(subscription_id, vehicle_message);
+                       DEBUG(binder_interface, "%s: %s CAN signals processed.", __FUNCTION__,  s[subscription_id]->get_name().c_str());
                }
        }
 }
@@ -145,22 +132,29 @@ void can_bus_t::process_diagnostic_signals(diagnostic_manager_t& manager, const
 ///  TODO: make diagnostic messages parsing optionnal.
 void can_bus_t::can_decode_message()
 {
+       utils::signals_manager_t& sm = utils::signals_manager_t::instance();
+
        while(is_decoding_)
        {
+               std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
+               new_can_message_cv_.wait(can_message_lock);
+               while(!can_message_q_.empty())
                {
-                       std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
-                       new_can_message_cv_.wait(can_message_lock);
-                       while(!can_message_q_.empty())
-                       {
-                               const can_message_t can_message = next_can_message();
+                       const can_message_t can_message = next_can_message();
+                       can_message_lock.unlock();
 
+                       {
+                               std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
+                               std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
                                if(application_t::instance().get_diagnostic_manager().is_diagnostic_response(can_message))
-                                       process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message);
+                                       {process_diagnostic_signals(application_t::instance().get_diagnostic_manager(), can_message, s);}
                                else
-                                       process_can_signals(can_message);
+                                       {process_can_signals(can_message, s);}
                        }
+                       can_message_lock.lock();
                }
-               new_decoded_can_message_.notify_one();
+       new_decoded_can_message_.notify_one();
+       can_message_lock.unlock();
        }
 }
 
@@ -168,7 +162,6 @@ void can_bus_t::can_decode_message()
 /// which are events that has to be pushed.
 void can_bus_t::can_event_push()
 {
-       std::pair<int, openxc_VehicleMessage> v_message;
        openxc_SimpleMessage s_message;
        json_object* jo;
        utils::signals_manager_t& sm = utils::signals_manager_t::instance();
@@ -179,11 +172,12 @@ void can_bus_t::can_event_push()
                new_decoded_can_message_.wait(decoded_can_message_lock);
                while(!vehicle_message_q_.empty())
                {
-                       v_message = next_vehicle_message();
-                       s_message = get_simple_message(v_message.second);
+                       std::pair<int, openxc_VehicleMessage> v_message = next_vehicle_message();
+                       decoded_can_message_lock.unlock();
                        {
                                std::lock_guard<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
                                std::map<int, std::shared_ptr<low_can_subscription_t> >& s = sm.get_subscribed_signals();
+                               s_message = get_simple_message(v_message.second);
                                if(s.find(v_message.first) != s.end() && afb_event_is_valid(s[v_message.first]->get_event()))
                                {
                                        jo = json_object_new_object();
@@ -191,12 +185,15 @@ void can_bus_t::can_event_push()
                                        if(afb_event_push(s[v_message.first]->get_event(), jo) == 0)
                                        {
                                                if(v_message.second.has_diagnostic_response)
-                                                       {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid);}
-                                               on_no_clients(s[v_message.first]);
+                                                       {on_no_clients(s[v_message.first], v_message.second.diagnostic_response.pid, s);}
+                                               else
+                                                       {on_no_clients(s[v_message.first], s);}
                                        }
                                }
                        }
+                       decoded_can_message_lock.lock();
                }
+               decoded_can_message_lock.unlock();
        }
 }
 
@@ -332,4 +329,4 @@ const std::string can_bus_t::get_can_device_name(const std::string& id_name) con
                }
        }
        return ret;
-}
\ No newline at end of file
+}