#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
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);
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;
};