#pragma once
+#include <utility>
#include <mutex>
#include <queue>
#include <thread>
#include <linux/can.h>
#include <condition_variable>
-
#include "openxc.pb.h"
-#include "can-message.hpp"
-#include "can-bus-dev.hpp"
-#include "../diagnostic/active-diagnostic-request.hpp"
-
-#include "../low-can-binding.hpp"
-
-// TODO actual max is 32 but dropped to 24 for memory considerations
-#define MAX_ACCEPTANCE_FILTERS 24
-// TODO this takes up a ton of memory
-#define MAX_DYNAMIC_MESSAGE_COUNT 12
+#include "message/can-message.hpp"
+#include "../utils/config-parser.hpp"
+#include "../binding/low-can-subscription.hpp"
#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
/// json conf file describing the CAN devices to use. Thus, those object will read
/// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue.
///
-/// That queue will be later used to be decoded and pushed to subscribers.
+/// That queue will later be decoded and pushed to subscribers.
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.
+
+ bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
+ void process_signals(std::shared_ptr<message_t> message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+ void process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr<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
+ std::thread th_decoding_; ///< thread that will handle decoding a can frame
bool is_decoding_ = false; ///< boolean member controling thread while loop
void can_event_push();
- std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
+ std::thread th_pushing_; ///< thread that will handle pushing decoded can frame to subscribers
bool is_pushing_ = false; ///< boolean member controling thread while loop
std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read
std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue.
- std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
+ std::queue <std::shared_ptr<message_t>> can_message_q_; ///< queue that will store can_message_t to be decoded
- 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::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 will store openxc_VehicleMessage to be pushed
+ std::vector<std::pair<std::string, std::string> > can_devices_mapping_; ///< can_devices_mapping_ - holds a mapping between logical CAN devices names and linux CAN devices names.
public:
- can_bus_t(int conf_file);
+ explicit can_bus_t(utils::config_parser_t conf_file);
can_bus_t(can_bus_t&&);
+ ~can_bus_t();
- int init_can_dev();
- std::vector<std::string> read_conf();
+ 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();
- 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::shared_ptr<message_t> next_can_message();
+ void push_new_can_message(std::shared_ptr<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);
-
- 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);
+ std::pair<int, openxc_VehicleMessage> next_vehicle_message();
+ void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);
};
Code Review / apps / agl-service-can-low-level.git / blobdiff