Merge branch 'master' of github.com:iotbzh/CAN_signaling

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

diff --git a/src/can-bus.cpp b/src/can-bus.cpp
index f4a6d55..52c81cf 100644 (file)
--- a/src/can-bus.cpp
+++ b/src/can-bus.cpp
@@ -43,7 +43,7 @@ extern "C"
 *
 *********************************************************************************/
 
-can_bus_t::can_bus_t(int& conf_file)
+can_bus_t::can_bus_t(int conf_file)
        : conf_file_{conf_file}
 {
 }
@@ -59,7 +59,7 @@ void can_bus_t::can_decode_message()
        decoder_t decoder;
 
        DEBUG(binder_interface, "Beginning of decoding thread.");
-       while(is_decoding())
+       while(is_decoding_)
        {
                {
                        std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
@@ -102,7 +102,7 @@ void can_bus_t::can_event_push()
        json_object* jo;
        
        DEBUG(binder_interface, "Beginning of the pushing thread");
-       while(is_pushing())
+       while(is_pushing_)
        {
                {
                        std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
@@ -128,28 +128,21 @@ void can_bus_t::can_event_push()
 
 void can_bus_t::start_threads()
 {
-       th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
        is_decoding_ = true;
-       th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+       th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
+       if(!th_decoding_.joinable())
+               is_decoding_ = false;
+       
        is_pushing_ = true;
+       th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+       if(!th_pushing_.joinable())
+               is_pushing_ = false;
 }
 
 void can_bus_t::stop_threads()
 {
        is_decoding_ = false;
        is_pushing_ = false;
-       th_decoding_.join();
-       th_pushing_.join();
-}
-
-bool can_bus_t::is_decoding()
-{
-       return is_decoding_;
-}
-
-bool can_bus_t::is_pushing()
-{
-       return is_pushing_;
 }
 
 int can_bus_t::init_can_dev()
@@ -167,12 +160,12 @@ int can_bus_t::init_can_dev()
 
                for(const auto& device : devices_name)
                {
-                       can_bus_dev_t can_bus_device_handler(device);
-                       if (can_bus_device_handler.open() == 0)
+                       can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
+                       if (can_devices_m_[device]->open() == 0)
                        {
                                i++;
                                DEBUG(binder_interface, "Start reading thread");
-                               can_bus_device_handler.start_reading(std::ref(*this));
+                               can_devices_m_[device]->start_reading(*this);
                        }
                        else
                                ERROR(binder_interface, "Can't open device %s", device.c_str());
@@ -284,6 +277,11 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
        has_vehicle_message_ = true;
 }
 
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
+{
+       return can_devices_m_;
+}
+
 /********************************************************************************
 *
 *              can_bus_dev_t method implementation
@@ -361,7 +359,7 @@ canfd_frame can_bus_dev_t::read()
 {
        ssize_t nbytes;
        //int maxdlen;
-       canfd_frame canfd_frame;
+       struct canfd_frame cfd;
 
        /* Test that socket is really opened */
        if (can_socket_ < 0)
@@ -370,46 +368,32 @@ canfd_frame can_bus_dev_t::read()
                is_running_ = false;
        }
 
-       nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
+       nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
 
-       switch(nbytes)
+       /* if we did not fit into CAN sized messages then stop_reading. */
+       if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
        {
-               case CANFD_MTU:
-                       DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
-                       //maxdlen = CANFD_MAX_DLEN;
-                       break;
-               case CAN_MTU:
-                       DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
-                       //maxdlen = CAN_MAX_DLEN;
-                       break;
-               default:
-                       if (errno == ENETDOWN)
-                                       ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
-                       ERROR(binder_interface, "read_can: Error reading CAN bus");
-                       ::memset(&canfd_frame, 0, sizeof(canfd_frame));
-                       is_running_ = false;
-                       break;
+               if (errno == ENETDOWN)
+                       ERROR(binder_interface, "read: %s CAN device down", device_name_);
+               ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
+               ::memset(&cfd, 0, sizeof(cfd));
        }
-       
-       return canfd_frame;
-}
 
-bool can_bus_dev_t::is_running()
-{
-       return is_running_;
+       return cfd;
 }
 
 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 {
        DEBUG(binder_interface, "Launching reading thread");
-       th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
        is_running_ = true;
+       th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
+       if(!th_reading_.joinable())
+               is_running_ = false;
 }
 
 void can_bus_dev_t::stop_reading()
 {
        is_running_ = false;
-       th_reading_.join();
 }
 
 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
@@ -417,7 +401,7 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus)
        can_message_t can_message;
 
        DEBUG(binder_interface, "Beginning of reading thread");
-       while(is_running())
+       while(is_running_)
        {
                can_message.convert_from_canfd_frame(read());