X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus.cpp;h=06338b4e8db4ba7db3a3e18eaf59f42ec562abb8;hb=d91f5f743bc6f6ec9aadfe96187b45dc93043f61;hp=6e74b86af9a4ede1309d8b6d0ccca807c54eab80;hpb=14043c56960ced9141ef107c66a6a041a75f6cb3;p=apps%2Fagl-service-can-low-level.git diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp index 6e74b86a..06338b4e 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -29,7 +29,7 @@ #include "can-signals.hpp" #include "can-decoder.hpp" -#include "../configuration.hpp" +#include "../binding/configuration.hpp" #include "../utils/signals.hpp" #include "../utils/openxc-utils.hpp" @@ -45,8 +45,6 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file) : conf_file_{conf_file} {} -std::map> can_bus_t::can_devices_; - /// @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. @@ -57,7 +55,7 @@ std::map> can_bus_t::can_devices_; /// @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; @@ -71,25 +69,24 @@ int can_bus_t::process_can_signals(can_message_t& can_message) signals = sm.find_signals(search_key); // Decoding the message ! Don't kill the messenger ! - for(auto& sig : signals.can_signals) + for(const auto& sig : signals.can_signals) { std::lock_guard subscribed_signals_lock(sm.get_subscribed_signals_mutex()); std::map& s = sm.get_subscribed_signals(); - // DEBUG message to make easier debugger STL containers... - //DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name])); - //DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)])); - //DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.generic_name)); - //DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.generic_name)); if( s.find(sig->get_name()) != s.end() && afb_event_is_valid(s[sig->get_name()])) { - decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals()); + bool send = true; + decoded_message = decoder_t::translateSignal(*sig, can_message, conf.get_can_signals(), &send); - openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); - vehicle_message = build_VehicleMessage(s_message); + if(send) + { + openxc_SimpleMessage s_message = build_SimpleMessage(sig->get_name(), decoded_message); + vehicle_message = build_VehicleMessage(s_message); - std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); + std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + } processed_signals++; } } @@ -219,54 +216,6 @@ void can_bus_t::stop_threads() is_pushing_ = false; } -/// @brief Will initialize can_bus_dev_t objects after reading -/// the configuration file passed in the constructor. All CAN buses -/// Initialized here will be added to a vector holding them for -/// inventory and later access. -/// -/// That will initialize CAN socket reading too using a new thread. -/// -/// @return 0 if ok, other if not. -int can_bus_t::init_can_dev() -{ - std::vector devices_name; - int i = 0; - size_t t; - - if(conf_file_.check_conf()) - { - devices_name = conf_file_.get_devices_name(); - if (! devices_name.empty()) - { - t = devices_name.size(); - - for(const auto& device : devices_name) - { - can_bus_t::can_devices_[device] = std::make_shared(device, i); - if (can_bus_t::can_devices_[device]->open() >= 0) - { - can_bus_t::can_devices_[device]->configure(); - DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__); - NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str()); - can_bus_t::can_devices_[device]->start_reading(*this); - i++; - } - else - { - ERROR(binder_interface, "%s: Can't open device %s", __FUNCTION__, device.c_str()); - return 1; - } - } - NOTICE(binder_interface, "%s: Initialized %d/%d can bus device(s)", __FUNCTION__, i, (int)t); - return 0; - } - ERROR(binder_interface, "%s: Error at CAN device initialization. No devices read from configuration file", __FUNCTION__); - return 1; - } - ERROR(binder_interface, "%s: Can't read INI configuration file", __FUNCTION__); - return 2; -} - /// @brief return new_can_message_cv_ member /// /// @return return new_can_message_cv_ member @@ -336,30 +285,39 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) vehicle_message_q_.push(v_msg); } -/// @brief Create a RX_SETUP receive job for the BCM socket of a CAN signal. -/// -/// @return 0 if ok -1 if not. - int can_bus_t::create_rx_filter(const can_signal_t& s) - { - const std::string& bus = s.get_message().get_bus_name(); - return can_bus_t::can_devices_[bus]->create_rx_filter(s); - } - -/// @brief Return a map with the can_bus_dev_t initialized -/// -/// @return map can_bus_dev_m_ map -const std::map>& can_bus_t::get_can_devices() const -{ - return can_bus_t::can_devices_; -} - /// @brief Return the shared pointer on the can_bus_dev_t initialized /// with device_name "bus" /// /// @param[in] bus - CAN bus device name to retrieve. /// /// @return A shared pointer on an object can_bus_dev_t -std::shared_ptr can_bus_t::get_can_device(std::string bus) +void can_bus_t::set_can_devices() { - return can_bus_t::can_devices_[bus]; + can_devices_ = conf_file_.get_devices_name(); } + +int can_bus_t::get_can_device_index(std::string bus_name) const +{ + int i = 0; + for(const auto& d: can_devices_) + { + if(d.first == bus_name) + break; + i++; + } + return i; +} + +std::string can_bus_t::get_can_device_name(std::string id_name) const +{ + std::string ret; + for(const auto& d: can_devices_) + { + if(d.first == id_name) + { + ret = d.second; + break; + } + } + return ret; +} \ No newline at end of file