#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 "can-message.hpp"
#include "can-bus-dev.hpp"
+#include "../diagnostic/active-diagnostic-request.hpp"
+
+#include "../low-can-binding.hpp"
// TODO actual max is 32 but dropped to 24 for memory considerations
#define MAX_ACCEPTANCE_FILTERS 24
#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.
-
+ 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::thread th_decoding_; ///< thread that'll handle decoding a can frame
+ 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
+ std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers
+ 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.
- std::queue <can_message_t> can_message_q_; /// < queue that'll store can_message_t to decoded
+ 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.
+ std::queue <can_message_t> can_message_q_; ///< queue that'll store can_message_t to decoded
- 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::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::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
+ static std::map<std::string, 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);
+ can_bus_t(can_bus_t&&);
int init_can_dev();
std::vector<std::string> read_conf();
void start_threads();
void stop_threads();
+ int process_can_signals(can_message_t& can_message);
+ int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
+
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::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
+ static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
};
-
-/// 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);