X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-bus.hpp;h=53e6b9ae197a228d65203e38c6bd8b4365bc90c0;hb=2f60d294b3fa4e243fa67a738f9b82a0b428a7fc;hp=eb4747693549db66bf00dbe6bc27fa81ba0fe0ac;hpb=a58d40b5ae336a54408201963b065ee049b43acd;p=apps%2Fagl-service-can-low-level.git diff --git a/low-can-binding/can/can-bus.hpp b/low-can-binding/can/can-bus.hpp index eb474769..53e6b9ae 100644 --- a/low-can-binding/can/can-bus.hpp +++ b/low-can-binding/can/can-bus.hpp @@ -18,77 +18,72 @@ #pragma once +#include #include #include #include #include #include - #include "openxc.pb.h" -#include "can-message.hpp" -#include "can-bus-dev.hpp" -#include "../diagnostic/active-diagnostic-request.hpp" - -#include "../low-can-binding.hpp" - -// TODO actual max is 32 but dropped to 24 for memory considerations -#define MAX_ACCEPTANCE_FILTERS 24 -// TODO this takes up a ton of memory -#define MAX_DYNAMIC_MESSAGE_COUNT 12 +#include "message/can-message.hpp" +#include "../utils/config-parser.hpp" +#include "../binding/low-can-subscription.hpp" #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 /// json conf file describing the CAN devices to use. Thus, those object will read /// on the device the CAN frame and push them into the can_bus_t can_message_q_ queue. /// -/// That queue will be later used to be decoded and pushed to subscribers. +/// That queue will later be decoded and pushed to subscribers. class can_bus_t { private: - int conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects. + utils::config_parser_t conf_file_; ///< configuration file handle used to initialize can_bus_dev_t objects. + + bool apply_filter(const openxc_VehicleMessage& vehicle_message, std::shared_ptr can_subscription); + void process_signals(std::shared_ptr message, std::map >& s); + void process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr can_message, std::map >& s); void can_decode_message(); - std::thread th_decoding_; ///< thread that'll handle decoding a can frame + std::thread th_decoding_; ///< thread that will handle decoding a can frame bool is_decoding_ = false; ///< boolean member controling thread while loop void can_event_push(); - std::thread th_pushing_; ///< thread that'll handle pushing decoded can frame to subscribers + std::thread th_pushing_; ///< thread that will handle pushing decoded can frame to subscribers bool is_pushing_ = false; ///< boolean member controling thread while loop std::condition_variable new_can_message_cv_; ///< condition_variable use to wait until there is a new CAN message to read std::mutex can_message_mutex_; ///< mutex protecting the can_message_q_ queue. - std::queue can_message_q_; ///< queue that'll store can_message_t to decoded + std::queue > can_message_q_; ///< queue that will store can_message_t to be decoded - 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::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 vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed - - static std::map> can_devices_; ///< Can device map containing all can_bus_dev_t objects initialized during init_can_dev function + std::queue > vehicle_message_q_; ///< queue that will store openxc_VehicleMessage to be pushed + std::vector > can_devices_mapping_; ///< can_devices_mapping_ - holds a mapping between logical CAN devices names and linux CAN devices names. public: - can_bus_t(int conf_file); + explicit can_bus_t(utils::config_parser_t conf_file); can_bus_t(can_bus_t&&); + ~can_bus_t(); - int init_can_dev(); - std::vector 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(); - int process_can_signals(can_message_t& can_message); - int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message); - - can_message_t next_can_message(); - void push_new_can_message(const can_message_t& can_msg); + std::shared_ptr next_can_message(); + void push_new_can_message(std::shared_ptr 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); - - const std::map>& get_can_devices() const; - static std::shared_ptr get_can_device(std::string bus); + std::pair next_vehicle_message(); + void push_new_vehicle_message(int subscription_id, const openxc_VehicleMessage& v_msg); };