Change way to convert simplemessage into a json

[apps/agl-service-can-low-level.git] / src / can-utils.hpp

diff --git a/src/can-utils.hpp b/src/can-utils.hpp
index d1310a6..d945be4 100644 (file)
--- a/src/can-utils.hpp
+++ b/src/can-utils.hpp
@@ -29,6 +29,7 @@
 #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"
@@ -115,60 +116,29 @@ typedef struct CanMessage CanMessage;
 */
 class can_message_t {
        private:
-               const struct afb_binding_interface *interface_;
+               const struct afb_binding_interface* interface_;
                uint32_t id_;
                CanMessageFormat format_;
-               uint8_t data_[CAN_MESSAGE_SIZE];
+               uint8_t data_;
                uint8_t length_;
 
        public:
+               can_message_t(const struct afb_binding_interface* interface);
+
                uint32_t get_id() const;
                int get_format() const;
-               uint8_t get_data() const;
-               uint8_t get_lenght() const;
+               const uint8_t* get_data() const;
+               uint8_t get_length() 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 set_id(const uint32_t new_id);
+               void set_format(const CanMessageFormat format);
+               void set_data(const uint8_t new_data);
+               void set_length(const uint8_t new_length);
 
-               void convert_from_canfd_frame(canfd_frame frame);
+               void convert_from_canfd_frame(const canfd_frame& frame);
                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.
- *
- * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc.
- */
-class can_bus_dev_t {
-       private:
-               std::string device_name_;
-               int can_socket_;
-               bool is_fdmode_on_;
-               struct sockaddr_can txAddress_;
-
-               bool has_can_message_;
-               std::queue <can_message_t> can_message_q_;
-
-               std::thread th_reading_;
-               bool is_running_;
-
-       public:
-               can_bus_dev_t(const std::string& dev_name);
-
-               int open(const struct afb_binding_interface* interface);
-               int close();
-               bool is_running();
-               void start_reading();
-               canfd_frame read(const struct afb_binding_interface *interface);
-               
-               can_message_t next_can_message();
-               void push_new_can_message(const can_message_t& can_msg);                
-               bool has_can_message() const;
-};
-
 /** 
  * @brief Object used to handle decoding and manage event queue to be pushed.
  *
@@ -177,29 +147,63 @@ class can_bus_dev_t {
  */
 class can_bus_t {
        private:
-               const struct afb_binding_interface *interface_;
                int conf_file_;
                
                std::thread th_decoding_;
                std::thread th_pushing_;
 
+               bool has_can_message_;
+               std::queue <can_message_t> can_message_q_;
+
                bool has_vehicle_message_;
                std::queue <openxc_VehicleMessage> vehicle_message_q_;
 
        public:
+               const struct afb_binding_interface *interface_;
+
                can_bus_t(const struct afb_binding_interface *itf, int& conf_file);
                int init_can_dev();
                std::vector<std::string> read_conf();
                
                void start_threads();
-               
-               int send_can_message(can_message_t can_msg);
 
-               openxc_VehicleMessage& next_vehicle_message();
+               can_message_t next_can_message();
+               void push_new_can_message(const can_message_t& can_msg);                
+               bool has_can_message() const;
+               
+               openxc_VehicleMessage next_vehicle_message();
                void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
                bool has_vehicle_message() const;
 };
 
+/** 
+ * @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.
+ *
+ * @params[in] std::string device_name_ - name of the linux device handling the can bus. Generally vcan0, can0, etc.
+ */
+class can_bus_dev_t {
+       private:
+               std::string device_name_;
+               int can_socket_;
+               bool is_fdmode_on_;
+               struct sockaddr_can txAddress_;
+
+               std::thread th_reading_;
+               bool is_running_;
+
+       public:
+               can_bus_dev_t(const std::string& dev_name);
+
+               int open(const struct afb_binding_interface* interface);
+               int close();
+               bool is_running();
+               void start_reading(can_bus_t& can_bus);
+               canfd_frame read(const struct afb_binding_interface *interface);
+               
+               int send_can_message(can_message_t& can_msg, const struct afb_binding_interface* interface);
+};
+
 /**
  * @brief A state encoded (SED) signal's mapping from numerical values to
  * OpenXC state names.
@@ -280,7 +284,7 @@ typedef struct CanSignal CanSignal;
  * @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.
+ *             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.
@@ -396,6 +400,6 @@ void logBusStatistics(can_bus_dev_t* buses, const int busCount);
 /**
  * @brief Function representing thread activated by can bus objects
  */
-void can_reader(can_bus_dev_t& can_bus);
+void can_reader(can_bus_dev_t& can_bus_dev, can_bus_t& can_bus);
 void can_decode_message(can_bus_t& can_bus);
 void can_event_push(can_bus_t& can_bus);
\ No newline at end of file