#include "openxc.pb.h"
#include "can-message.hpp"
#include "../utils/config-parser.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
-// TODO this takes up a ton of memory
-#define MAX_DYNAMIC_MESSAGE_COUNT 12
-
#define CAN_ACTIVE_TIMEOUT_S 30
class diagnostic_manager_t;
/// 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:
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
+ 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 <can_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'll store openxc_VehicleMessage to pushed
+ 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:
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;