Reworked reading CAN devices from BCM socket.

[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 6e74b86..6f9e78d 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -47,6 +47,49 @@ can_bus_t::can_bus_t(utils::config_parser_t 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.
@@ -199,6 +242,11 @@ void can_bus_t::can_event_push()
 ///  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())
@@ -215,6 +263,7 @@ void can_bus_t::start_threads()
 /// they'll finish their job.
 void can_bus_t::stop_threads()
 {
+       is_reading_ = false;
        is_decoding_ = false;
        is_pushing_ = false;
 }
@@ -248,7 +297,7 @@ int can_bus_t::init_can_dev()
                                        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);
+                                       //can_bus_t::can_devices_[device]->start_reading(*this);
                                        i++;
                                }
                                else