X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;ds=sidebyside;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus.cpp;h=8c45073efb390ac490ff9843138a1902874644d4;hb=415de819e774a7dbe7aa6073c23b6387b1365b9d;hp=bca9d03157a684ab48bdeb56f6e3998defcfc0eb;hpb=5b66a43147af37f4ebe3429eb045900aa7323613;p=apps%2Flow-level-can-service.git

diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index bca9d03..8c45073 100644
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -47,51 +47,6 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file)
 
 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
 
-/// @brief Listen for all device sockets and fill can_messages_queue with them.
-/// Reading blocks until message arrive on listened sockets.
-///
-/// @return 0 if ok -1 if not
-int can_bus_t::can_reader()
-{
-	fd_set rfds;
-	int sock_max = INVALID_SOCKET;
-
-	FD_ZERO(&rfds);
-
-	for(auto& can_dev : can_devices_)
-	{
-		FD_SET(can_dev.second->get_socket().socket(), &rfds);
-		if (sock_max < can_dev.second->get_socket().socket())
-			sock_max = can_dev.second->get_socket().socket();
-	}
-
-	int ret;
-	while(is_reading_)
-	{
-		ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr);
-
-		if(ret == -1)
-			perror("select()");
-		else if(ret > 0)
-		{
-			for(const auto& s: can_devices_)
-			{
-				if(FD_ISSET(s.second->get_socket().socket(), &rfds))
-				{
-					can_message_t msg;
-					s.second->get_socket() >> msg;
-					std::lock_guard<std::mutex> can_message_lock(get_can_message_mutex());
-					{ push_new_can_message(msg); }
-					get_new_can_message_cv().notify_one();
-					}
-				}
-		}
-		else
-			printf("Timeout\n");
-	}
-	return 0;
-}
-
 /// @brief Will make the decoding operation on a classic CAN message. It will not
 /// handle CAN commands nor diagnostic messages that have their own method to get
 /// this happens.
@@ -102,7 +57,7 @@ int can_bus_t::can_reader()
 /// @param[in] can_message - a single CAN message from the CAN socket read, to be decode.
 ///
 /// @return How many signals has been decoded.
-int can_bus_t::process_can_signals(can_message_t& can_message)
+int can_bus_t::process_can_signals(const can_message_t& can_message)
 {
 	int processed_signals = 0;
 	struct utils::signals_found signals;
@@ -248,11 +203,6 @@ void can_bus_t::can_event_push()
 ///  and push subscribed events.
 void can_bus_t::start_threads()
 {
-	is_reading_ = true;
-	th_reading_ = std::thread(&can_bus_t::can_reader, this);
-	if(!th_reading_.joinable())
-		is_reading_ = false;
-
 	is_decoding_ = true;
 	th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 	if(!th_decoding_.joinable())
@@ -269,7 +219,6 @@ void can_bus_t::start_threads()
 /// they'll finish their job.
 void can_bus_t::stop_threads()
 {
-	is_reading_ = false;
 	is_decoding_ = false;
 	is_pushing_ = false;
 }