X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-bus.hpp;h=dd67ca85f3da4d9b4c877c97fe8cd0c2b9fecc70;hb=ac43d4647b83a1793269699800da02c02aa5fed0;hp=11b3b7af808a457c25d89e67466eb51102e097ed;hpb=0b4dccf94a2a6b1ff4f5dc233b0ce0977927096d;p=apps%2Fagl-service-can-low-level.git

diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
index 11b3b7af..dd67ca85 100644
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -18,6 +18,7 @@
 
 #pragma once
 
+#include <utility>
 #include <mutex>
 #include <queue>
 #include <thread>
@@ -26,11 +27,9 @@
 
 #include "openxc.pb.h"
 #include "can-message.hpp"
-#include "can-bus-dev.hpp"
-#include "can-signals.hpp"
 #include "../utils/config-parser.hpp"
-#include "../diagnostic/diagnostic-manager.hpp"
-#include "../low-can-binding.hpp"
+#include "../binding/low-can-hat.hpp"
+#include "../binding/low-can-subscription.hpp"
 
 // TODO actual max is 32 but dropped to 24 for memory considerations
 #define MAX_ACCEPTANCE_FILTERS 24
@@ -39,6 +38,8 @@
 
 #define CAN_ACTIVE_TIMEOUT_S 30
 
+class diagnostic_manager_t;
+
 /// @brief Object used to handle decoding and manage event queue to be pushed.
 ///
 /// This object is also used to initialize can_bus_dev_t object after reading
@@ -51,8 +52,9 @@ class can_bus_t
 private:
 	utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects.
 
-	int process_can_signals(can_message_t& can_message);
-	int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
+	bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr<low_can_subscription_t> can_subscription);
+	void process_can_signals(const can_message_t& can_message);
+	void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
 
 	void can_decode_message();
 	std::thread th_decoding_; ///< thread that'll handle decoding a can frame
@@ -68,30 +70,25 @@ private:
 
 	std::condition_variable new_decoded_can_message_; ///< condition_variable use to wait until there is a new vehicle message to read from the queue vehicle_message_q_
 	std::mutex decoded_can_message_mutex_;  ///< mutex protecting the vehicle_message_q_ queue.
-	std::queue <openxc_VehicleMessage> vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
-
-	static std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_devices_; ///< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function
+	std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
 
+	std::vector<std::pair<std::string, std::string> > can_devices_;
 public:
-	can_bus_t(utils::config_parser_t conf_file);
+	explicit can_bus_t(utils::config_parser_t conf_file);
 	can_bus_t(can_bus_t&&);
 
-	int init_can_dev();
-	std::vector<std::string> read_conf();
+	void set_can_devices();
+	int get_can_device_index(const std::string& bus_name) const;
+	const std::string get_can_device_name(const std::string& id_name) const;
 
 	void start_threads();
 	void stop_threads();
 
-	can_message_t next_can_message();
+	const can_message_t next_can_message();
 	void push_new_can_message(const can_message_t& can_msg);
 	std::mutex& get_can_message_mutex();
 	std::condition_variable& get_new_can_message_cv();
 
-	openxc_VehicleMessage next_vehicle_message();
-	void push_new_vehicle_message(const openxc_VehicleMessage& v_msg);
-
-	int create_rx_filter(const can_signal_t& signal);
-
-	const std::map<std::string, std::shared_ptr<can_bus_dev_t>>& get_can_devices() const;
-	static std::shared_ptr<can_bus_dev_t> get_can_device(std::string bus);
+	std::pair<int, openxc_VehicleMessage> next_vehicle_message();
+	void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg);
 };