#include <cstdio>
#include <string>
#include <thread>
+#include <fcntl.h>
+#include <unistd.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
#include <linux/can.h>
+#include <sys/socket.h>
+#include <json-c/json.h>
+#include <linux/can/raw.h>
#include "timer.hpp"
#include "openxc.pb.h"
-#include <afb/afb-binding.h>
-#include <afb/afb-service-itf.h>
+
+extern "C"
+{
+ #include <afb/afb-binding.h>
+}
// TODO actual max is 32 but dropped to 24 for memory considerations
#define MAX_ACCEPTANCE_FILTERS 24
openxc_DynamicField* value, bool* send);
/**
+ * @enum CanMessageFormat
* @brief The ID format for a CAN message.
- *
- * STANDARD - standard 11-bit CAN arbitration ID.
- * EXTENDED - an extended frame, with a 29-bit arbitration ID.
*/
enum CanMessageFormat {
- STANDARD,
- EXTENDED,
+ STANDARD, /*!< STANDARD - standard 11-bit CAN arbitration ID. */
+ EXTENDED, /*!< EXTENDED - an extended frame, with a 29-bit arbitration ID. */
+ ERROR, /*!< ERROR - ERROR code used at initialization to signify that it isn't usable'*/
};
typedef enum CanMessageFormat CanMessageFormat;
/**
+ * @class can_message_t
+ *
* @brief A compact representation of a single CAN message, meant to be used in in/out
* buffers.
*
- * param[in] uint32_t id - The ID of the message.
- * param[in] CanMessageFormat format - the format of the message's ID.
- * param[in] uint8_t data - The message's data field.
- * @param[in] uint8_t length - the length of the data array (max 8).
-*************************
-* old CanMessage struct *
-*************************
+ * param[in]
+ * param[in]
+ * param[in]
+ * @param[in]
+ */
+
+/*************************
+ * old CanMessage struct *
+ *************************
struct CanMessage {
uint32_t id;
CanMessageFormat format;
*/
class can_message_t {
private:
- const struct afb_binding_interface *interface_;
- uint32_t id_;
- CanMessageFormat format_;
- uint8_t data_[CAN_MESSAGE_SIZE];
- uint8_t length_;
+ const struct afb_binding_interface* interface_; /*!< afb_binding_interface interface between daemon and binding */
+
+ uint32_t id_; /*!< uint32_t id - The ID of the message. */
+ uint8_t length_; /*!< uint8_t length - the length of the data array (max 8). */
+ CanMessageFormat format_; /*!< CanMessageFormat format - the format of the message's ID.*/
+ uint8_t data_[CAN_MESSAGE_SIZE]; /*!< uint8_t data - The message's data field with a size of 8 which is the standard about CAN bus messages.*/
public:
+ /**
+ * @brief Class constructor
+ *
+ * Constructor about can_message_t class.
+ *
+ * @param interface - const structafb_binding_interface pointer
+ */
+ can_message_t(const struct afb_binding_interface* interface);
+
+ /**
+ * @brief Retrieve id_ member value.
+ *
+ * @return uint32_t id_ class member
+ */
uint32_t get_id() const;
+
+ /**
+ * @brief Retrieve format_ member value.
+ *
+ * @return CanMessageFormat format_ class member
+ */
int get_format() const;
- uint8_t get_data() const;
- uint8_t get_lenght() const;
-
- void set_id(uint32_t id);
- void set_format(CanMessageFormat format);
- void set_data(uint8_t data);
- void set_lenght(uint8_t length);
-
- void convert_from_canfd_frame(canfd_frame frame);
+
+ /**
+ * @brief Retrieve data_ member value.
+ *
+ * @return uint8_t data_ pointer class member
+ */
+ const uint8_t* get_data() const;
+
+ /**
+ * @brief Retrieve length_ member value.
+ *
+ * @return uint8_t length_ class member
+ */
+ uint8_t get_length() const;
+
+ /**
+ * @brief Control whether the object is correctly initialized
+ * to be sent over the CAN bus
+ *
+ * @return true if object correctly initialized and false if not...
+ */
+ bool is_correct_to_send();
+
+ /**
+ * @brief Set id_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param uint32_t id_ class member
+ */
+ void set_id(const uint32_t new_id);
+
+ /**
+ * @brief Set format_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param CanMessageFormat format_ class member
+ */
+ void set_format(const CanMessageFormat format);
+
+ /**
+ * @brief Set data_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param uint8_t data_ array with a max size of 8 elements.
+ */
+ void set_data(const uint8_t new_data);
+
+ /**
+ * @brief Set length_ member value.
+ *
+ * Preferred way to initialize these members by using
+ * convert_from_canfd_frame method.
+ *
+ * @param uint8_t length_ array with a max size of 8 elements.
+ */
+ void set_length(const uint8_t new_length);
+
+ /**
+ * @brief Take a canfd_frame struct to initialize class members
+ *
+ * This is the preferred way to initialize class members.
+ *
+ * @param canfd_frame struct read from can bus device.
+ */
+ void convert_from_canfd_frame(const canfd_frame& frame);
+
+ /**
+ * @brief Take all initialized class's members and build an
+ * canfd_frame struct that can be use to send a CAN message over
+ * the bus.
+ *
+ * @return canfd_frame struct built from class members.
+ */
canfd_frame convert_to_canfd_frame();
};
/**
- * @brief Object representing a can device. Handle opening, closing and reading on the
- * socket. This is the low level object to be use by can_bus_t.
+ * @class can_bus_t
+ * @brief Object used to handle decoding and manage event queue to be pushed.
*
- * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc.
+ * 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_dev_t {
+class can_bus_t {
private:
- std::string device_name_;
- int can_socket_;
- bool is_fdmode_on_;
- struct sockaddr_can txAddress_;
+ int conf_file_; /*!< conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.*/
+
+ std::thread th_decoding_; /*!< thread that'll handle decoding a can frame */
+ std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
- bool has_can_message_;
- std::queue <can_message_t> can_message_q_;
+ 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::thread th_reading_;
- bool is_running_;
+ 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 */
public:
- can_bus_dev_t(const std::string& dev_name);
+ const struct afb_binding_interface *interface_; /*!< interface_ - afb_binding_interface pointer to the binder. Used to log messages */
+
+ /**
+ * @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(const struct afb_binding_interface *interface, 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.
+ */
+ std::vector<std::string> read_conf();
+
+ /**
+ * @brief Will initialize threads that will decode
+ * and push subscribed events.
+ */
+ void start_threads();
- int open();
- int close();
- bool is_running();
+ /**
+ * @brief Return first can_message_t on the queue
+ *
+ * @return a can_message_t
+ */
+ can_message_t next_can_message();
- 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 a boolean telling if there is any can_message into the queue
+ *
+ * @return true if there is at least a can_message_t, false if not.
+ */
bool has_can_message() const;
+
+ /**
+ * @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 boolean telling if there is any openxc_VehicleMessage into the queue
+ *
+ * @return true if there is at least a openxc_VehicleMessage, false if not.
+ */
+ bool has_vehicle_message() const;
};
-/**
- * @brief Object used to handle decoding and manage event queue to be pushed.
+/**
+ * @class can_bus_dev_t
*
- * @params[in] interface_ - afb_binding_interface pointer to the binder. Used to log messages
- * @params[in] conf_file_ - configuration file handle used to initialize can_bus_dev_t objects.
+ * @brief Object representing a can device. Handle opening, closing and reading on the
+ * socket. This is the low level object to be use by can_bus_t.
*/
-class can_bus_t {
+class can_bus_dev_t {
private:
- const struct afb_binding_interface *interface_;
- int conf_file_;
-
- std::thread th_decoding_;
- std::thread th_pushing_;
+ 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. */
+ struct sockaddr_can txAddress_; /*!< internal member using to bind to the socket */
- bool has_vehicle_message_;
- std::queue <openxc_VehicleMessage> vehicle_message_q_;
+ 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 */
public:
- can_bus_t(const struct afb_binding_interface *itf, int& conf_file);
- int init_can_dev();
- std::vector<std::string> read_conf();
+ /**
+ * @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(const struct afb_binding_interface* interface);
+ int close();
+ bool is_running();
- void start_threads();
+ /**
+ * @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 afb_binding_interface and can_bus_t queue.
+ */
+ void start_reading(can_bus_t& can_bus);
+
+ /**
+ * @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.
+ */
+ canfd_frame read(const struct afb_binding_interface *interface);
- int send_can_message(can_message_t can_msg);
-
- openxc_VehicleMessage& next_vehicle_message();
- void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
- bool has_vehicle_message() const;
+ /**
+ * @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, const struct afb_binding_interface* interface);
};
/**
+ * @struct CanSignalState
+ *
* @brief A state encoded (SED) signal's mapping from numerical values to
* OpenXC state names.
- *
- * @param[in] in value - The integer value of the state on the CAN bus.
- * @param[in] char* name - The corresponding string name for the state in OpenXC.
*/
struct CanSignalState {
- const int value;
- const char* name;
+ const int value; /*!< int value - The integer value of the state on the CAN bus.*/
+ const char* name; /*!< char* name - The corresponding string name for the state in OpenXC. */
};
typedef struct CanSignalState CanSignalState;
/**
- * @brief A CAN signal to decode from the bus and output over USB.
+ * @struct CanSignal
*
- * @param[in] message - The message this signal is a part of.
- * @param[in] genericName - The name of the signal to be output over USB.
- * @param[in] bitPosition - The starting bit of the signal in its CAN message (assuming
- * non-inverted bit numbering, i.e. the most significant bit of
- * each byte is 0)
- * @param[in] bitSize - The width of the bit field in the CAN message.
- * @param[in] factor - The final value will be multiplied by this factor. Use 1 if you
- * don't need a factor.
- * @param[in] offset - The final value will be added to this offset. Use 0 if you
- * don't need an offset.
- * @param[in] minValue - The minimum value for the processed signal.
- * @param[in] maxValue - The maximum value for the processed signal.
- * @param[in] frequencyClock - A FrequencyClock struct to control the maximum frequency to
- * process and send this signal. To process every value, set the
- * clock's frequency to 0.
- * @param[in] sendSame - If true, will re-send even if the value hasn't changed.
- * @param[in] forceSendChanged - If true, regardless of the frequency, it will send the
- * value if it has changed.
- * @param[in] states - An array of CanSignalState describing the mapping
- * between numerical and string values for valid states.
- * @param[in] stateCount - The length of the states array.
- * @param[in] writable - True if the signal is allowed to be written from the USB host
- * back to CAN. Defaults to false.
- * @param[in] decoder - An optional function to decode a signal from the bus to a human
- * readable value. If NULL, the default numerical decoder is used.
- * @param[in] encoder - An optional function to encode a signal value to be written to
- * CAN into a byte array. If NULL, the default numerical encoder
- * is used.
- * @param[in] received - True if this signal has ever been received.
- * @param[in] lastValue - The last received value of the signal. If 'received' is false,
- * this value is undefined.
+ * @brief A CAN signal to decode from the bus and output over USB.
*/
struct CanSignal {
- struct CanMessageDefinition* message;
- const char* genericName;
- uint8_t bitPosition;
- uint8_t bitSize;
- float factor;
- float offset;
- float minValue;
- float maxValue;
- FrequencyClock frequencyClock;
- bool sendSame;
- bool forceSendChanged;
- const CanSignalState* states;
- uint8_t stateCount;
- bool writable;
- SignalDecoder decoder;
- SignalEncoder encoder;
- bool received;
- float lastValue;
+ struct CanMessageDefinition* message; /*!< message - The message this signal is a part of. */
+ const char* genericName; /*!< genericName - The name of the signal to be output over USB.*/
+ uint8_t bitPosition; /*!< bitPosition - The starting bit of the signal in its CAN message (assuming
+ * non-inverted bit numbering, i.e. the most significant bit of
+ * each byte is 0) */
+ uint8_t bitSize; /*!< bitSize - The width of the bit field in the CAN message. */
+ float factor; /*!< factor - The final value will be multiplied by this factor. Use 1 if you
+ * don't need a factor. */
+ float offset; /*!< offset - The final value will be added to this offset. Use 0 if you
+ * don't need an offset. */
+ float minValue; /*!< minValue - The minimum value for the processed signal.*/
+ float maxValue; /*!< maxValue - The maximum value for the processed signal. */
+ FrequencyClock frequencyClock; /*!< frequencyClock - A FrequencyClock struct to control the maximum frequency to
+ * process and send this signal. To process every value, set the
+ * clock's frequency to 0. */
+ bool sendSame; /*!< sendSame - If true, will re-send even if the value hasn't changed.*/
+ bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send the
+ * value if it has changed. */
+ const CanSignalState* states; /*!< states - An array of CanSignalState describing the mapping
+ * between numerical and string values for valid states. */
+ uint8_t stateCount; /*!< stateCount - The length of the states array. */
+ bool writable; /*!< writable - True if the signal is allowed to be written from the USB host
+ * back to CAN. Defaults to false.*/
+ SignalDecoder decoder; /*!< decoder - An optional function to decode a signal from the bus to a human
+ * readable value. If NULL, the default numerical decoder is used. */
+ SignalEncoder encoder; /*!< encoder - An optional function to encode a signal value to be written to
+ * CAN into a byte array. If NULL, the default numerical encoder
+ * is used. */
+ bool received; /*!< received - True if this signal has ever been received.*/
+ float lastValue; /*!< lastValue - The last received value of the signal. If 'received' is false,
+ * this value is undefined. */
};
typedef struct CanSignal CanSignal;
/**
+ * @struct CanMessageDefinition
+ *
* @brief The definition of a CAN message. This includes a lot of metadata, so
* to save memory this struct should not be used for storing incoming and
* outgoing CAN messages.
- *
- * @param[in] bus - A pointer to the bus this message is on.
- * @param[in] id - The ID of the message.
- * @param[in] format - the format of the message's ID.
- * @param[in] clock - an optional frequency clock to control the output of this
- * message, if sent raw, or simply to mark the max frequency for custom
- * handlers to retrieve.
- * @param[in] forceSendChanged - If true, regardless of the frequency, it will send CAN
- * message if it has changed when using raw passthrough.
- * @param[in] lastValue - The last received value of the message. Defaults to undefined.
- * This is required for the forceSendChanged functionality, as the stack
- * needs to compare an incoming CAN message with the previous frame.
*/
struct CanMessageDefinition {
- struct CanBus* bus;
- uint32_t id;
- CanMessageFormat format;
- FrequencyClock frequencyClock;
- bool forceSendChanged;
- uint8_t lastValue[CAN_MESSAGE_SIZE];
+ struct CanBus* bus; /*!< bus - A pointer to the bus this message is on. */
+ uint32_t id; /*!< id - The ID of the message.*/
+ CanMessageFormat format; /*!< format - the format of the message's ID.*/
+ FrequencyClock frequencyClock; /*!< clock - an optional frequency clock to control the output of this
+ * message, if sent raw, or simply to mark the max frequency for custom
+ * handlers to retriec++ if ? syntaxve.*/
+ bool forceSendChanged; /*!< forceSendChanged - If true, regardless of the frequency, it will send CAN
+ * message if it has changed when using raw passthrough.*/
+ uint8_t lastValue[CAN_MESSAGE_SIZE]; /*!< lastValue - The last received value of the message. Defaults to undefined.
+ * This is required for the forceSendChanged functionality, as the stack
+ * needs to compare an incoming CAN message with the previous frame.*/
};
typedef struct CanMessageDefinition CanMessageDefinition;
-/* Private: An entry in the list of acceptance filters for each CanBus.
- *
- * This struct is meant to be used with a LIST type from <sys/queue.h>.
- *
- * filter - the value for the CAN acceptance filter.
- * activeUserCount - The number of active consumers of this filter's messages.
- * When 0, this filter can be removed.
- * format - the format of the ID for the filter.
-struct AcceptanceFilterListEntry {
- uint32_t filter;
- uint8_t activeUserCount;
- CanMessageFormat format;
- LIST_ENTRY(AcceptanceFilterListEntry) entries;
-};
- */
-
-/* Private: A type of list containing CAN acceptance filters.
-LIST_HEAD(AcceptanceFilterList, AcceptanceFilterListEntry);
-
-struct CanMessageDefinitionListEntry {
- CanMessageDefinition definition;
- LIST_ENTRY(CanMessageDefinitionListEntry) entries;
-};
-LIST_HEAD(CanMessageDefinitionList, CanMessageDefinitionListEntry);
- */
-
/**
+ * @struct CanMessageSet
+ *
* @brief A parent wrapper for a particular set of CAN messages and associated
* CAN buses(e.g. a vehicle or program).
- *
- * @param[in] index - A numerical ID for the message set, ideally the index in an array
- * for fast lookup
- * @param[in] name - The name of the message set.
- * @param[in] busCount - The number of CAN buses defined for this message set.
- * @param[in] messageCount - The number of CAN messages (across all buses) defined for
- * this message set.
- * @param[in] signalCount - The number of CAN signals (across all messages) defined for
- * this message set.
- * @param[in] commandCount - The number of CanCommmands defined for this message set.
*/
typedef struct {
- uint8_t index;
- const char* name;
- uint8_t busCount;
- unsigned short messageCount;
- unsigned short signalCount;
- unsigned short commandCount;
+ uint8_t index; /*!<index - A numerical ID for the message set, ideally the index in an array
+ * for fast lookup*/
+ const char* name; /*!< name - The name of the message set.*/
+ uint8_t busCount; /*!< busCount - The number of CAN buses defined for this message set.*/
+ unsigned short messageCount; /*!< messageCount - The number of CAN messages (across all buses) defined for
+ * this message set.*/
+ unsigned short signalCount; /*!< signalCount - The number of CAN signals (across all messages) defined for
+ * this message set.*/
+ unsigned short commandCount; /*!< commandCount - The number of CanCommmands defined for this message set.*/
} CanMessageSet;
/**
typedef void (*CommandHandler)(const char* name, openxc_DynamicField* value,
openxc_DynamicField* event, CanSignal* signals, int signalCount);
-/* Public: The structure to represent a supported custom OpenXC command.
+/* @struct CanCommand
+ * @brief The structure to represent a supported custom OpenXC command.
*
- * For completely customized CAN commands without a 1-1 mapping between an
+ * @desc For completely customized CAN commands without a 1-1 mapping between an
* OpenXC message from the host and a CAN signal, you can define the name of the
* command and a custom function to handle it in the VI. An example is
* the "turn_signal_status" command in OpenXC, which has a value of "left" or
*
* Command handlers are also useful if you want to trigger multiple CAN messages
* or signals from a signal OpenXC message.
- *
- * genericName - The name of the command.
- * handler - An function to process the received command's data and perform some
- * action.
*/
typedef struct {
- const char* genericName;
- CommandHandler handler;
+ const char* genericName; /*!< genericName - The name of the command.*/
+ CommandHandler handler; /*!< handler - An function to process the received command's data and perform some
+ * action.*/
} CanCommand;
/**
+ * @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
*
* @param[in] can_bus_dev_t bus - A CanBus struct defining the bus's metadata
* @param[in] buses - An array of all CAN buses.
* @param[in] int busCount - The length of the buses array.
*/
-void pre_initialize(can_bus_dev_t* bus, bool writable, CanBus* buses, const int busCount);
+void pre_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
-/* Post-initialize actions made after CAN bus initialization and before the
+/**
+ * @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 and before the
* event loop connection.
*
- * bus - A CanBus struct defining the bus's metadata
- * writable - configure the controller in a writable mode. If false, it will be
+ * @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.
- * buses - An array of all CAN buses.
- * busCount - The length of the buses array.
+ * @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, CanBus* buses, const int busCount);
+void post_initialize(can_bus_dev_t* bus, bool writable, can_bus_dev_t* buses, const int busCount);
-/* Public: Check if the device is connected to an active CAN bus, i.e. it's
+/**
+ * @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.
*
- * Returns true if a message was received on the CAN bus within
+ * @return true if a message was received on the CAN bus within
* CAN_ACTIVE_TIMEOUT_S seconds.
*/
bool isBusActive(can_bus_dev_t* bus);
-/* Public: Log transfer statistics about all active CAN buses to the debug log.
+/**
+ * @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
*
- * buses - an array of active CAN buses.
- * busCount - the length of the buses array.
+ * @param[in] can_bus_t object used to pop can_message_q_ queue and fill decoded message
+ * into vehicle_message_q_ queue.
*/
-void logBusStatistics(CanBus* buses, const int busCount);
+void can_event_push(can_bus_t& can_bus);
\ No newline at end of file
Code Review / apps / agl-service-can-low-level.git / blobdiff