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=bca9d03157a684ab48bdeb56f6e3998defcfc0eb;hpb=5b66a43147af37f4ebe3429eb045900aa7323613;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 bca9d031..06338b4e 100644 --- a/CAN-binder/low-can-binding/can/can-bus.cpp +++ b/CAN-binder/low-can-binding/can/can-bus.cpp @@ -45,53 +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 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 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 +55,7 @@ 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; @@ -116,16 +69,11 @@ 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()])) { bool send = true; @@ -248,11 +196,6 @@ 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()) @@ -269,59 +212,10 @@ 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; } -/// @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 @@ -391,21 +285,39 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) vehicle_message_q_.push(v_msg); } -/// @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() +{ + can_devices_ = conf_file_.get_devices_name(); +} + +int can_bus_t::get_can_device_index(std::string bus_name) const { - return can_bus_t::can_devices_[bus]; + 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