Fix CMakeLists file to get isotp correctly linked and adding

[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 0c3709f..d4d6d74 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
@@ -41,17 +40,17 @@
 #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
@@ -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);
@@ -81,39 +80,13 @@ public:
        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();
 
        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;
 };
 
-/// 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);