* limitations under the License.
*/
+#include "low-can-binding.hpp"
+
+#include <queue>
+#include <vector>
+#include <thread>
+#include <fcntl.h>
+#include <linux/can.h>
#include <json-c/json.h>
#include <systemd/sd-event.h>
+#include "timer.hpp"
+#include "openxc.pb.h"
#include "can-utils.hpp"
#include "can-signals.hpp"
#include "openxc-utils.hpp"
-#include "low-can-binding.hpp"
-
extern "C"
{
#include <afb/afb-binding.h>
*/
const struct afb_binding_interface *binder_interface;
+/*
+ * CAN bus handler pointer. This is the object that will be use to
+ * initialize each CAN devices specified into the configuration file
+ *
+ * It is used by the reading thread also because of its can_message_q_ queue
+ * that store CAN messages read from the socket.
+ */
+can_bus_t *can_bus_handler;
+
/********************************************************************************
*
* Event management
*
*********************************************************************************/
+int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+{
+ can_bus_dev_t *can_bus_dev = (can_bus_dev_t*)userdata;
+ /* Notify reading thread that there is something to read */
+ if ((revents & EPOLLIN) != 0) {
+ new_can_frame.notify_one();
+ }
+
+ /* check if error or hangup and reopen the socket and event_loop.
+ * socket is protected by a mutex */
+ if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0)
+ {
+ std::lock_guard<std::mutex> can_frame_lock(can_frame_mutex);
+ sd_event_source_unref(s);
+ can_bus_dev->close();
+ can_bus_dev->open();
+ can_bus_dev->start_reading(*can_bus_handler);
+ can_bus_dev->event_loop_connection();
+ }
+
+ return 0;
+}
/********************************************************************************
*
* Subscription and unsubscription
else
{
openxc_DynamicField search_key = build_DynamicField(name);
- sig = find_can_signals(binder_interface, search_key);
+ sig = find_can_signals(search_key);
if (sig.empty())
ret = 0;
}
int fd_conf;
fd_conf = afb_daemon_rootdir_open_locale(binder_interface->daemon, "can_bus.json", O_RDONLY, NULL);
+ /* Initialize the CAN bus handler */
+ can_bus_t cbh(fd_conf);
+ can_bus_handler = &cbh;
+
/* Open CAN socket */
- can_bus_t can_bus_handler(binder_interface, fd_conf);
- if(can_bus_handler.init_can_dev() == 0)
+ if(can_bus_handler->init_can_dev() == 0)
{
- can_bus_handler.start_threads();
+ can_bus_handler->start_threads();
return 0;
}
-
+ ERROR(binder_interface, "There was something wrong with CAN device Initialization. Check your config file maybe");
return 1;
}
};