#include <condition_variable>
#include "openxc.pb.h"
-#include "utils/timer.hpp"
-#include "can/can-signals.hpp"
-#include "can/can-message.hpp"
-
-#include "low-can-binding.hpp"
-
+#include "../utils/timer.hpp"
+#include "can-signals.hpp"
+#include "can-message.hpp"
#include "can-bus-dev.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 CAN_ACTIVE_TIMEOUT_S 30
/// @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
+///
+/// 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.
class can_bus_t
{
private:
int conf_file_; /// < configuration file handle used to initialize can_bus_dev_t objects.
-
+
void can_decode_message();
std::thread th_decoding_; /// < thread that'll handle decoding a can frame
bool is_decoding_; /// < boolean member controling thread while loop
void stop_threads();
can_message_t next_can_message();
- void push_new_can_message(const can_message_t& can_msg);
+ void push_new_can_message(const can_message_t& can_msg);
std::mutex& get_can_message_mutex();
std::condition_variable& get_new_can_message_cv();
std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
};
-/// TODO: implement this function as method into can_bus class
-/// @brief Pre initialize actions made before CAN bus initialization
-/// @param[in] bus A CanBus struct defining the bus's metadata
-/// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs.
-/// @param[in] buses An array of all CAN buses.
-/// @param[in] busCount The length of the buses array.
-void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
-
-/// TODO: implement this function as method into can_bus class
-/// @brief Post-initialize actions made after CAN bus initialization
-/// @param[in] bus A CanBus struct defining the bus's metadata
-/// @param[in] writable Configure the controller in a writable mode. If false, it will be configured as "listen only" and will not allow writes or even CAN ACKs.
-/// @param[in] buses An array of all CAN buses.
-/// @param[in] busCount The length of the buses array.
-void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
-
-/// TODO: implement this function as method into can_bus class
-/// @brief Check if the device is connected to an active CAN bus, i.e. it's received a message in the recent past.
-/// @return true if a message was received on the CAN bus within CAN_ACTIVE_TIMEOUT_S seconds.
-bool isBusActive(can_bus_dev_t* bus);
-
-/// TODO: implement this function as method into can_bus class
-/// @brief Log transfer statistics about all active CAN buses to the debug log.
-/// @param[in] buses An array of active CAN buses.
-/// @param[in] busCount The length of the buses array.
-void logBusStatistics(can_bus_dev_t* buses, const int busCount);