#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 "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);
};
/**
/**
* @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.
+ * @brief Post-initialize actions made after CAN bus initialization
*
* @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
Code Review / apps / low-level-can-service.git / blobdiff