Keep subscription to signal simplier without doubling

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

diff --git a/src/can/can-bus.hpp b/src/can/can-bus.hpp
index 154822f..a001d1e 100644 (file)
--- a/src/can/can-bus.hpp
+++ b/src/can/can-bus.hpp
@@ -25,14 +25,13 @@
 #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
@@ -54,11 +53,11 @@ private:
 
        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
+       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
-       bool is_pushing_; /// < boolean member controling thread while loop
+       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.
@@ -66,9 +65,9 @@ private:
 
        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 <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed
+       std::queue <openxc_VehicleMessage> vehicle_message_q_; /// < queue that'll store openxc_VehicleMessage to pushed 
 
-       std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_m_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
+       std::vector<std::shared_ptr<can_bus_dev_t>> can_devices_; /// < Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
 
 public:
        can_bus_t(int conf_file);
@@ -88,6 +87,6 @@ public:
        openxc_VehicleMessage next_vehicle_message();
        void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
 
-       std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
+       const std::vector<std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
 };