Keeping RAW sockets for compatibility

[apps/low-level-can-service.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 6f9e78d..8c45073 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -29,7 +29,7 @@
 
 #include "can-signals.hpp"
 #include "can-decoder.hpp"
-#include "../configuration.hpp"
+#include "../binding/configuration.hpp"
 #include "../utils/signals.hpp"
 #include "../utils/openxc-utils.hpp"
 
@@ -47,49 +47,6 @@ 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.
@@ -100,7 +57,7 @@ int can_bus_t::can_reader()
 /// @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;
@@ -126,13 +83,17 @@ int can_bus_t::process_can_signals(can_message_t& can_message)
                //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()]))
                {
-                       decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals());
+                       bool send = true;
+                       decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals(), &send);
 
-                       openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
-                       vehicle_message = build_VehicleMessage(s_message);
+                       if(send)
+                       {
+                               openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message);
+                               vehicle_message = build_VehicleMessage(s_message);
 
-                       std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
-                       push_new_vehicle_message(vehicle_message);
+                               std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+                               push_new_vehicle_message(vehicle_message);
+                       }
                        processed_signals++;
                }
        }
@@ -242,11 +203,6 @@ 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())
@@ -263,7 +219,6 @@ 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;
 }
@@ -385,15 +340,6 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
        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