#include <thread>
#include <linux/can.h>
#include <condition_variable>
-
#include "openxc.pb.h"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
#include "../utils/config-parser.hpp"
#include "../binding/low-can-subscription.hpp"
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_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 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 will handle decoding a can frame
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 will store can_message_t to be 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 <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that will store openxc_VehicleMessage to be pushed
public:
explicit can_bus_t(utils::config_parser_t conf_file);
can_bus_t(can_bus_t&&);
+ ~can_bus_t();
void set_can_devices();
int get_can_device_index(const std::string& bus_name) const;
void start_threads();
void stop_threads();
- const 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();