Improve reliability on multi-threading.

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

diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
index 759a70f..b19519a 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <utility>
 #include <mutex>
 #include <queue>
 #include <thread>
@@ -26,10 +27,9 @@
 
 #include "openxc.pb.h"
 #include "can-message.hpp"
-#include "can-signals.hpp"
 #include "../utils/config-parser.hpp"
-#include "../diagnostic/diagnostic-manager.hpp"
 #include "../binding/low-can-hat.hpp"
+#include "../binding/low-can-subscription.hpp"
 
 // TODO actual max is 32 but dropped to 24 for memory considerations
 #define MAX_ACCEPTANCE_FILTERS 24
@@ -38,6 +38,8 @@
 
 #define CAN_ACTIVE_TIMEOUT_S 30
 
+class diagnostic_manager_t;
+
 /// @brief Object used to handle decoding and manage event queue to be pushed.
 ///
 /// This object is also used to initialize can_bus_dev_t object after reading
@@ -50,8 +52,9 @@ class can_bus_t
 private:
        utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
 
-       int process_can_signals(const can_message_t& can_message);
-       int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
+       bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
+       void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+       void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
 
        void can_decode_message();
        std::thread th_decoding_; ///< thread that'll handle decoding a can frame
@@ -67,23 +70,25 @@ private:
 
        std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
        std::mutex decoded_can_message_mutex_;  ///< mutex protecting the vehicle_message_q_ queue.
-       std::queue <openxc_VehicleMessage> vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
-
-       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
+       std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
 
+       std::vector<std::pair<std::string, std::string> > can_devices_;
 public:
-       can_bus_t(utils::config_parser_t conf_file);
+       explicit can_bus_t(utils::config_parser_t conf_file);
        can_bus_t(can_bus_t&&);
 
+       void set_can_devices();
+       int get_can_device_index(const std::string& bus_name) const;
+       const std::string get_can_device_name(const std::string& id_name) const;
 
        void start_threads();
        void stop_threads();
 
-       can_message_t next_can_message();
+       const can_message_t next_can_message();
        void push_new_can_message(const can_message_t& can_msg);
        std::mutex& get_can_message_mutex();
        std::condition_variable& get_new_can_message_cv();
 
-       openxc_VehicleMessage next_vehicle_message();
-       void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
+       std::pair<int, openxc_VehicleMessage> next_vehicle_message();
+       void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);
 };