X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus.cpp;h=e4f22e544ccddc884ac9cd6255bd5a6a66684014;hb=a6ac908369144c5d318f05b43ccdf280f562cd68;hp=6f9e78d958f7e71682dfb458d2de56e725e6ed36;hpb=e00c07be2835dd082862730189c87baacbfbdbeb;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 6f9e78d9..e4f22e54 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"
 
@@ -47,49 +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;
-					push_new_can_message(msg);
-					}
-				}
-		}
-		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.
@@ -100,7 +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;
@@ -114,25 +71,24 @@ 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<std::mutex> subscribed_signals_lock(sm.get_subscribed_signals_mutex());
 		std::map<std::string, struct afb_event>& 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<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
-			push_new_vehicle_message(vehicle_message);
+				std::lock_guard<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
+				push_new_vehicle_message(vehicle_message);
+			}
 			processed_signals++;
 		}
 	}
@@ -242,11 +198,6 @@ 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())
@@ -263,7 +214,6 @@ 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;
 }
@@ -385,15 +335,6 @@ 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