#pragma once
-#include <map>
#include <queue>
-#include <vector>
-#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"
-
-extern "C"
-{
- #include <afb/afb-binding.h>
- #include <afb/afb-service-itf.h>
-}
+#include "low-can-binding.hpp"
// TODO actual max is 32 but dropped to 24 for memory considerations
#define MAX_ACCEPTANCE_FILTERS 24
*
* @brief A compact representation of a single CAN message, meant to be used in in/out
* buffers.
- *
- * param[in]
- * param[in]
- * param[in]
- * @param[in]
*/
/*************************
*/
class can_message_t {
private:
- 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.*/
* @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);
+ can_message_t();
/**
* @brief Retrieve id_ member value.
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 */
+ bool is_decoding_; /*!< boolean member controling thread while loop*/
std::thread th_pushing_; /*!< thread that'll handle pushing decoded can frame to subscribers */
+ bool is_pushing_; /*!< boolean member controling thread while loop*/
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::queue <openxc_VehicleMessage> vehicle_message_q_; /*!< queue that'll store openxc_VehicleMessage to pushed */
public:
- 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);
+ can_bus_t(int& conf_file);
/**
* @brief Will initialize can_bus_dev_t objects after reading
*/
void start_threads();
+ /**
+ * @brief Will stop all threads holded by can_bus_t object
+ * which are decoding and pushing 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
*/
- int open(const struct afb_binding_interface* interface);
+ 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 afb_binding_interface and can_bus_t queue.
+ * to allow using can_bus_t queue.
*/
void start_reading(can_bus_t& can_bus);
* @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);
+ canfd_frame read();
/**
* @brief Send a can message from a can_message_t object.
* @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);
+ int send_can_message(can_message_t& can_msg);
};
/**
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 retriec++ if ? syntaxve.
- * @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;
/**
+ * @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
*/
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
- * event loop connection.
+/**
+ * @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
*
- * 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, 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.
*
- * buses - an array of active CAN buses.
- * busCount - the length of the buses array.
+ * @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);
Code Review / apps / low-level-can-service.git / blobdiff