Added a warning that it is an example code

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

diff --git a/src/can/can-bus.cpp b/src/can/can-bus.cpp
index d46092b..e92e2cb 100644 (file)
--- a/src/can/can-bus.cpp
+++ b/src/can/can-bus.cpp
@@ -15,8 +15,6 @@
  * limitations under the License.
  */
 
-#include "can-bus.hpp"
-
 #include <map>
 #include <cerrno>
 #include <vector>
@@ -29,14 +27,16 @@
 #include <json-c/json.h>
 #include <linux/can/raw.h>
 
-#include "can-decoder.hpp"
-#include "openxc-utils.hpp"
+#include "can/can-decoder.hpp"
+#include "utils/openxc-utils.hpp"
 
 extern "C"
 {
        #include <afb/afb-binding.h>
 }
 
+#include "can/can-bus.hpp"
+
 /********************************************************************************
 *
 *              can_bus_t method implementation
@@ -53,6 +53,7 @@ can_bus_t::can_bus_t(int conf_file)
 {
 }
 
+
 /**
 * @brief thread to decoding raw CAN messages. 
 *
@@ -74,7 +75,7 @@ void can_bus_t::can_decode_message()
        while(is_decoding_)
        {
                std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
-               new_can_message_.wait(can_message_lock);
+               new_can_message_cv_.wait(can_message_lock);
                can_message = next_can_message();
        
                /* First we have to found which CanSignal it is */
@@ -92,7 +93,7 @@ void can_bus_t::can_decode_message()
                        DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
                        DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
                        DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name));
-                       DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name))); */
+                       DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)));*/
                        if( s.find(sig->generic_name) != s.end() && afb_event_is_valid(s[sig->generic_name]))
                        {
                                decoded_message = decoder.translateSignal(*sig, can_message, get_can_signals());
@@ -144,7 +145,7 @@ void can_bus_t::can_event_push()
        */
 void can_bus_t::start_threads()
 {
-       v_ = true;
+       is_decoding_ = true;
        th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
        if(!th_decoding_.joinable())
                is_decoding_ = false;
@@ -263,9 +264,9 @@ std::vector<std::string> can_bus_t::read_conf()
 }
 
 /**
-* @brief return new_can_message_ member
+* @brief return new_can_message_cv_ member
 *
-* @return  return new_can_message_ member
+* @return  return new_can_message_cv_ member
 */
 std::condition_variable& can_bus_t::get_new_can_message_cv()
 {
@@ -358,75 +359,6 @@ std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices
 *              can_bus_dev_t method implementation
 *
 *********************************************************************************/
-/**
-* @brief Class constructor 
-*
-* @param const string representing the device name into the linux /dev tree
-*/
-can_bus_dev_t::can_bus_dev_t(const std::string &dev_name)
-       : device_name_{dev_name}, can_socket_{-1}
-{
-}
-
-/**
-* @brief Open the can socket and returning it 
-*
-* @return 
-*/
-int can_bus_dev_t::open()
-{
-       const int canfd_on = 1;
-       const int timestamp_on = 1;
-       struct ifreq ifr;
-       struct timeval timeout;
-
-       DEBUG(binder_interface, "CAN Handler socket : %d", can_socket_);
-       if (can_socket_ >= 0)
-               return 0;
-
-       can_socket_ = ::socket(PF_CAN, SOCK_RAW, CAN_RAW);
-       DEBUG(binder_interface, "CAN Handler socket correctly initialized : %d", can_socket_);
-       if (can_socket_ < 0)
-               ERROR(binder_interface, "socket could not be created. Error was : %s", ::strerror(errno));
-       else
-       {
-               /* Set timeout for read */
-               ::setsockopt(can_socket_, SOL_SOCKET, SO_RCVTIMEO, (char *)&timeout, sizeof(timeout));
-               /* Set timestamp for receveid frame */
-               if (::setsockopt(can_socket_, SOL_SOCKET, SO_TIMESTAMP, &timestamp_on, sizeof(timestamp_on)) < 0)
-                       WARNING(binder_interface, "setsockopt SO_TIMESTAMP error: %s", ::strerror(errno));
-               DEBUG(binder_interface, "Switch CAN Handler socket to use fd mode");
-               /* try to switch the socket into CAN_FD mode */
-               if (::setsockopt(can_socket_, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on)) < 0)
-               {
-                       NOTICE(binder_interface, "Can not switch into CAN Extended frame format.");
-                       is_fdmode_on_ = false;
-               } else {
-                       DEBUG(binder_interface, "Correctly set up CAN socket to use FD frames.");
-                       is_fdmode_on_ = true;
-               }
-
-               /* Attempts to open a socket to CAN bus */
-               ::strcpy(ifr.ifr_name, device_name_.c_str());
-               DEBUG(binder_interface, "ifr_name is : %s", ifr.ifr_name);
-               if(::ioctl(can_socket_, SIOCGIFINDEX, &ifr) < 0)
-                       ERROR(binder_interface, "ioctl failed. Error was : %s", strerror(errno));
-               else
-               {
-                       txAddress_.can_family = AF_CAN;
-                       txAddress_.can_ifindex = ifr.ifr_ifindex;
-
-                       /* And bind it to txAddress */
-                       DEBUG(binder_interface, "Bind the socket");
-                       if (::bind(can_socket_, (struct sockaddr *)&txAddress_, sizeof(txAddress_)) < 0)
-                               ERROR(binder_interface, "Bind failed. %s", strerror(errno));
-                       else
-                               return 0;
-               }
-               close();
-       }
-       return -1;
-}
 
 /**
        * @brief Open the can socket and returning it 
@@ -518,7 +450,7 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus)
                        std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
                        can_bus.push_new_can_message(can_message);
                }
-               can_bus.get_new_can_message_cv_().notify_one();
+               can_bus.get_new_can_message_cv().notify_one();
        }
 }
 
@@ -553,4 +485,4 @@ int can_bus_dev_t::send_can_message(can_message_t& can_msg)
                open();
        }
        return 0;
-}
\ No newline at end of file
+}