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_; /*!< condition_variable use to wait until there is a new CAN message to read*/
+ 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::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);
-
- /**
- * @brief Will initialize can_bus_dev_t objects after reading
- * the configuration file passed in the constructor.
- */
- int init_can_dev();
- /**
- * @brief read the conf_file_ and will parse json objects
- * in it searching for canbus objects devices name.
- *
- * @return Vector of can bus device name string.
- */
+ int init_can_dev();
std::vector<std::string> read_conf();
- /**
- * @brief Will initialize threads that will decode
- * and push subscribed events.
- */
- void start_threads();
- /**
- * @brief Will stop all threads holded by can_bus_t object
- * which are decoding and pushing then will wait that's
- * they'll finish their job.
- */
+ void start_threads();
void stop_threads();
- /**
- * @brief Telling if the decoding thread is running.
- * This is the boolean value on which the while loop
- * take its condition. Set it to false will stop the
- * according thread.
- *
- * @return true if decoding thread is running, false if not.
- */
- bool is_decoding();
-
- /**
- * @brief Telling if the pushing thread is running
- * This is the boolean value on which the while loop
- * take its condition. Set it to false will stop the
- * according thread.
- *
- * @return true if pushing thread is running, false if not.
- */
- bool is_pushing();
-
- /**
- * @brief Return first can_message_t on the queue
- *
- * @return a can_message_t
- */
can_message_t next_can_message();
-
- /**
- * @brief Push a can_message_t into the queue
- *
- * @param the const reference can_message_t object to push into the queue
- */
void push_new_can_message(const can_message_t& can_msg);
-
- /**
- * @brief return can_message_mutex_ member
- *
- * @return return can_message_mutex_ member
- */
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();
+ std::condition_variable& get_new_can_message_cv_();
- /**
- * @brief Return first openxc_VehicleMessage on the queue
- *
- * @return a openxc_VehicleMessage containing a decoded can message
- */
openxc_VehicleMessage next_vehicle_message();
-
- /**
- * @brief Push a openxc_VehicleMessage into 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 map with the can_bus_dev_t initialized
- *
- * @return map can_bus_dev_m_ map
- */
std::map<std::string, std::shared_ptr<can_bus_dev_t>> get_can_devices();
};
*/
class can_bus_dev_t {
private:
+ int32_t id_; /*!< int32_t id_ - an identifier used through binding that refer to that device*/
std::string device_name_; /*!< std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc. */
int can_socket_; /*!< socket handler for the can device */
bool is_fdmode_on_; /*!< boolean telling if whether or not the can socket use fdmode. */
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:
- /**
- * @brief Class constructor
- *
- * @param const string representing the device name into the linux /dev tree
- */
can_bus_dev_t(const std::string& dev_name);
- /**
- * @brief Open the can socket and returning it
- *
- * @return
- */
int open();
-
- /**
- * @brief Open the can socket and returning it
- *
- * @return
- */
int close();
- /**
- * @brief Telling if the reading thread is running
- * This is the boolean value on which the while loop
- * take its condition. Set it to false will stop the
- * according thread.
- *
- * @return true if reading thread is running, false if not.
- */
- 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.
- */
+
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
- *
- * @param const struct afb_binding_interface* interface pointer. Used to be able to log
- * using application framework logger.
- */
std::pair<struct canfd_frame&, size_t> read();
- /**
- * @brief Send a can message from a can_message_t object.
- *
- * @param const can_message_t& can_msg: the can message object to send
- * @param const struct afb_binding_interface* interface pointer. Used to be able to log
- * using application framework logger.
- */
int send_can_message(can_message_t& can_msg);
};
Code Review / apps / agl-service-can-low-level.git / blobdiff