X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=CAN-binder%2Flow-can-binding%2Fcan%2Fcan-signals.cpp;h=bc33e06bd1d09fddc808c709c37ccf340fb4c97b;hb=f9e933a9790baee7c820c8e812545cc1e0f85131;hp=04d328bf0c7141813cde9e6ac18a9ecfe08c7075;hpb=6222973c39ee02ad52a5d0b4b400024157ff2eeb;p=apps%2Fagl-service-can-low-level.git

diff --git a/CAN-binder/low-can-binding/can/can-signals.cpp b/CAN-binder/low-can-binding/can/can-signals.cpp
index 04d328bf..bc33e06b 100644
--- a/CAN-binder/low-can-binding/can/can-signals.cpp
+++ b/CAN-binder/low-can-binding/can/can-signals.cpp
@@ -89,7 +89,7 @@ utils::socketcan_bcm_t can_signal_t::get_socket() const
 	return socket_;
 }
 
-std::shared_ptr<can_message_definition_t> can_signal_t::get_message() const
+can_message_definition_t* can_signal_t::get_message() const
 {
 	return parent_;
 }
@@ -195,7 +195,7 @@ float can_signal_t::get_last_value() const
 	return last_value_;
 }
 
-void can_signal_t::set_parent(std::shared_ptr<can_message_definition_t> parent)
+void can_signal_t::set_parent(can_message_definition_t* parent)
 {
 	parent_ = parent;
 }
@@ -215,7 +215,7 @@ void can_signal_t::set_last_value(float val)
 	last_value_ = val;
 }
 
-/// @brief Create a RX_SETUP receive job using the BCM socket.
+/// @brief Create a RX_SETUP receive job used by the BCM socket.
 ///
 /// @return 0 if ok else -1
 int can_signal_t::create_rx_filter()
@@ -233,15 +233,13 @@ int can_signal_t::create_rx_filter()
 	memset(&cfd, 0, sizeof(cfd));
 	memset(&bcm_msg.msg_head, 0, sizeof(bcm_msg.msg_head));
 	float val = (float)(1 << bit_size_)-1;
-	float freq = frequency_.frequency_to_period();
-	if(freq <= 0)
-		freq = 0.000001f;
+	struct timeval freq = frequency_.get_timeval_from_period();
 
 	bcm_msg.msg_head.opcode  = RX_SETUP;
 	bcm_msg.msg_head.can_id  = can_id;
 	bcm_msg.msg_head.flags = SETTIMER|RX_NO_AUTOTIMER;
-	bcm_msg.msg_head.ival2.tv_sec = long(freq);
-	bcm_msg.msg_head.ival2.tv_usec = (freq - (long)freq) * 1000000;
+	bcm_msg.msg_head.ival2.tv_sec = freq.tv_sec ;
+	bcm_msg.msg_head.ival2.tv_usec = freq.tv_usec;
 	bcm_msg.msg_head.nframes = 1;
 	bitfield_encode_float(val,
 										bit_position_,
@@ -257,13 +255,3 @@ int can_signal_t::create_rx_filter()
 		return 0;
 	return -1;
 }
-
-void can_signal_t::read_socket()
-{
-	can_message_t msg;
-	can_bus_t& cbm = configuration_t::instance().get_can_bus_manager();
-	socket_ >> msg;
-	std::lock_guard<std::mutex> can_message_lock(cbm.get_can_message_mutex());
-	{ cbm.push_new_can_message(msg); }
-	cbm.get_new_can_message_cv().notify_one();
-}
\ No newline at end of file