Improve reading and now process CanMessage class

[apps/agl-service-can-low-level.git] / low-can-binding.cpp

diff --git a/low-can-binding.cpp b/low-can-binding.cpp
index 53517a6..b523e9d 100644 (file)
--- a/low-can-binding.cpp
+++ b/low-can-binding.cpp
@@ -48,81 +48,6 @@
  */
 static const struct afb_binding_interface *interface;
 
-/********************************************************************************
-*
-*              CanBus method implementation
-*
-*********************************************************************************/
-
-int CanBus::open()
-{
-       const int canfd_on = 1;
-       struct ifreq ifr;
-       struct timeval timeout = {1, 0};
-
-       DEBUG(interface, "open_can_dev: CAN Handler socket : %d", socket);
-       if (socket >= 0)
-               close(socket);
-
-       socket = socket(PF_CAN, SOCK_RAW, CAN_RAW);
-       if (socket < 0)
-       {
-               ERROR(interface, "open_can_dev: socket could not be created");
-       }
-       else
-       {
-               /* Set timeout for read */
-               setsockopt(socket, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
-               /* try to switch the socket into CAN_FD mode */
-               if (setsockopt(socket, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
-               {
-                       NOTICE(interface, "open_can_dev: Can not switch into CAN Extended frame format.");
-                       is_fdmode_on = false;
-               } else {
-                       is_fdmode_on = true;
-               }
-
-               /* Attempts to open a socket to CAN bus */
-               strcpy(ifr.ifr_name, device);
-               if(ioctl(socket, SIOCGIFINDEX, &ifr) < 0)
-                       ERROR(interface, "open_can_dev: ioctl failed");
-               else
-               {
-                       txAddress.can_family = AF_CAN;
-                       txAddress.can_ifindex = ifr.ifr_ifindex;
-
-                       /* And bind it to txAddress */
-                       if (bind(socket, (struct sockaddr *)&txAddress, sizeof(txAddress)) < 0)
-                       {
-                               ERROR(interface, "open_can_dev: bind failed");
-                       }
-                       else
-                       {
-                               fcntl(socket, F_SETFL, O_NONBLOCK);
-                               return 0;
-                       }
-               }
-               close(socket);
-               socket = -1;
-       }
-       return -1;
-}
-
-int CanBus::close()
-{
-       close(socket);
-       socket = -1;
-}
-
-void CanBus::start_threads()
-{
-    std::queue <canfd_frame> canfd_frame_queue;
-    std::queue <openxc_can_message_type> can_message_queue;
-
-    th_reading = std::thread(can_reader, interface, socket, canfd_frame_queue);
-    th_decoding = std::thread(can_decoder, interface, canfd_frame_queue, can_message_queue);
-    th_pushing = std::thread(can_event_push, interface, can_message_queue);
-}
 
 /********************************************************************************
 *
@@ -305,7 +230,7 @@ int afbBindingV1ServiceInit(struct afb_service service)
        /* Open JSON conf file */
 
        /* Open CAN socket */
-       CanBus CanBus_handler;
+       CanBus_t CanBus_handler;
        CanBus_handler.open();
     CanBus_handler.start_threads();