#define CAN_ACTIVE_TIMEOUT_S 30
+class can_bus_dev_t;
+
/**
* @class can_bus_t
* @brief Object used to handle decoding and manage event queue to be pushed.
class can_bus_t {
private:
int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
-
+
+ /**
+ * @brief thread to decoding raw CAN messages.
+ *
+ * @desc It will take from the can_message_q_ queue the next can message to process then it will search
+ * about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
+ * subscription has been made. Can message will be decoded using translateSignal that will pass it to the
+ * corresponding decoding function if there is one assigned for that signal. If not, it will be the default
+ * noopDecoder function that will operate on it.
+ */
+ 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*/
+
+ /**
+ * @brief thread to push events to suscribers. It will read subscribed_signals map to look
+ * which are events that has to be pushed.
+ */
+ 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::condition_variable new_can_message_;
- std::mutex can_message_mutex_;
+ std::condition_variable new_can_message_; /*!< 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.*/
bool has_can_message_; /*!< boolean members that control whether or not there is can_message into the 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_;
- std::mutex decoded_can_message_mutex_;
+ 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.*/
bool has_vehicle_message_; /*!< boolean members that control whether or not there is openxc_VehicleMessage into the 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*/
+
public:
/**
* @brief Class constructor
* @param struct afb_binding_interface *interface between daemon and binding
* @param int file handle to the json configuration file.
*/
- can_bus_t(int& conf_file);
+ can_bus_t(int conf_file);
/**
* @brief Will initialize can_bus_dev_t objects after reading
*/
std::vector<std::string> read_conf();
- std::condition_variable& get_new_can_message();
- std::mutex& get_can_message_mutex();
- std::condition_variable& get_new_decoded_can_message();
- std::mutex& get_decoded_can_message_mutex();
-
/**
* @brief Will initialize threads that will decode
* and push subscribed events.
/**
* @brief Will stop all threads holded by can_bus_t object
- * which are decoding and pushing threads.
+ * which are decoding and pushing then will wait that's
+ * they'll finish their job.
*/
void stop_threads();
void push_new_can_message(const can_message_t& can_msg);
/**
- * @brief Return a boolean telling if there is any can_message into the queue
+ * @brief return can_message_mutex_ member
*
- * @return true if there is at least a can_message_t, false if not.
+ * @return return can_message_mutex_ member
*/
- bool has_can_message() const;
+ std::mutex& get_can_message_mutex();
+ /**
+ * @brief return new_can_message_ member
+ *
+ * @return return new_can_message_ member
+ */
+ std::condition_variable& get_new_can_message();
+
+
/**
* @brief Return first openxc_VehicleMessage on the queue
*
* @param the const reference openxc_VehicleMessage object to push into the queue
*/
void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
-
+
/**
- * @brief Return a boolean telling if there is any openxc_VehicleMessage into the queue
+ * @brief Return a map with the can_bus_dev_t initialized
*
- * @return true if there is at least a openxc_VehicleMessage, false if not.
+ * @return map can_bus_dev_m_ map
*/
- bool has_vehicle_message() const;
+ std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
};
+
/**
* @class can_bus_dev_t
*
std::thread th_reading_; /*!< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t */
bool is_running_; /*!< boolean telling whether or not reading is running or not */
+
+ /**
+ *
+ * @brief Thread function used to read the can socket.
+ *
+ * @param[in] can_bus_dev_t object to be used to read the can socket
+ * @param[in] can_bus_t object used to fill can_message_q_ queue
+ */
+ void can_reader(can_bus_t& can_bus);
public:
/**
bool is_running();
/**
- * @brief start reading threads and set flag is_running_
- *
- * @param can_bus_t reference can_bus_t. it will be passed to the thread
- * to allow using can_bus_t queue.
- */
+ * @brief start reading threads and set flag is_running_
+ *
+ * @param can_bus_t reference can_bus_t. it will be passed to the thread
+ * to allow using can_bus_t queue.
+ */
void start_reading(can_bus_t& can_bus);
+ /**
+ * @brief stop the reading thread setting flag is_running_ to false and
+ * and wait that the thread finish its job.
+ */
+ void stop_reading();
+
/**
* @brief Read the can socket and retrieve canfd_frame
*
int send_can_message(can_message_t& can_msg);
};
-/**
- * @brief Return an array of the metadata for the 2 CAN buses you want to
- * monitor. The size of this array is fixed at 2.
- */
-can_bus_dev_t getCanBuses();
-
-/**
+/** TODO: implement this function as method into can_bus class
* @fn void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
* @brief Pre initialize actions made before CAN bus initialization
*
*/
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
* @fn void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
* @brief Post-initialize actions made after CAN bus initialization
*
*/
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
* @fn bool isBusActive(can_bus_dev_t* bus);
* @brief Check if the device is connected to an active CAN bus, i.e. it's
* received a message in the recent past.
*/
bool isBusActive(can_bus_dev_t* bus);
-/**
+/** TODO: implement this function as method into can_bus class
+ *
* @fn void logBusStatistics(can_bus_dev_t* buses, const int busCount);
* @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);
-
-/**
- * @fn void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
- *
- * @brief Thread function used to read the can socket.
- *
- * @param[in] can_bus_dev_t object to be used to read the can socket
- * @param[in] can_bus_t object used to fill can_message_q_ queue
- */
-void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
-
-/**
- * @fn void can_decode_message(can_bus_t& can_bus);
- *
- * @brief Thread function used to decode can messages read into the can_message_q_
- *
- * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
- * into vehicle_message_q_ queue.
- */
-void can_decode_message(can_bus_t& can_bus);
-
-/**
- * @fn void can_decode_message(can_bus_t& can_bus);
- *
- * @brief Thread function used to push afb_event
- *
- * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
- * into vehicle_message_q_ queue.
- */
-void can_event_push(can_bus_t& can_bus);
\ No newline at end of file
+void logBusStatistics(can_bus_dev_t* buses, const int busCount);
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff