Changed the decoding function

[apps/agl-service-can-low-level.git] / src / low-can-binding.cpp

diff --git a/src/low-can-binding.cpp b/src/low-can-binding.cpp
index ea8803f..be2d373 100644 (file)
--- a/src/low-can-binding.cpp
+++ b/src/low-can-binding.cpp
@@ -19,6 +19,7 @@
 #include "low-can-binding.hpp"
 
 #include <queue>
+#include <mutex>
 #include <vector>
 #include <thread>
 #include <fcntl.h>
@@ -34,7 +35,6 @@
 
 extern "C"
 {
-       #include <afb/afb-binding.h>
        #include <afb/afb-service-itf.h>
 };
 
@@ -43,43 +43,6 @@ extern "C"
  */
 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
@@ -114,7 +77,7 @@ static int subscribe_unsubscribe_signal(struct afb_req request, bool subscribe,
 {
        int ret;
 
-       // TODO: lock the subscribed_signals when insert/remove
+       std::lock_guard<std::mutex> subscribed_signals_lock(subscribed_signals_mutex);
        auto ss_i = subscribed_signals.find(sig.genericName);
        if (ss_i != subscribed_signals.end() && !afb_event_is_valid(ss_i->second))
        {
@@ -271,13 +234,12 @@ extern "C"
                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;
+               can_bus_t can_bus_handler(fd_conf);
 
                /* Open CAN socket */
-               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");