#include "openxc.pb.h"
#include "can-message.hpp"
#include "can-bus-dev.hpp"
-#include "../diagnostic/active-diagnostic-request.hpp"
-
+#include "can-signals.hpp"
+#include "../utils/config-parser.hpp"
+#include "../diagnostic/diagnostic-manager.hpp"
#include "../low-can-binding.hpp"
// TODO actual max is 32 but dropped to 24 for memory considerations
class can_bus_t
{
private:
- int conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
+ utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
+
+ int process_can_signals(can_message_t& can_message);
+ int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
+
+ int can_reader();
+ std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
+ bool is_reading_ = false; ///< boolean telling whether or not reading is running or not
void can_decode_message();
std::thread th_decoding_; ///< thread that'll handle decoding a can frame
static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; ///< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
public:
- can_bus_t(int conf_file);
+ can_bus_t(utils::config_parser_t conf_file);
can_bus_t(can_bus_t&&);
int init_can_dev();
void start_threads();
void stop_threads();
- int process_can_signals(can_message_t& can_message);
- int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
-
can_message_t next_can_message();
void push_new_can_message(const can_message_t& can_msg);
std::mutex& get_can_message_mutex();
openxc_VehicleMessage next_vehicle_message();
void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+ int create_rx_filter(const can_signal_t& signal);
+
const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
};