X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=low-can-binding%2Fcan%2Fcan-bus.hpp;h=53e6b9ae197a228d65203e38c6bd8b4365bc90c0;hb=88077fb4b383cf7f35093b6cc0d2d9d86c6f1bf3;hp=71abe41a91aefaaf27d787c254fe8c1626bbfb1a;hpb=6faef2305955b025c3cf1cfaf17a6aa073727c24;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 71abe41a..53e6b9ae 100644
--- a/low-can-binding/can/can-bus.hpp
+++ b/low-can-binding/can/can-bus.hpp
@@ -24,17 +24,11 @@
 #include <thread>
 #include <linux/can.h>
 #include <condition_variable>
-
 #include "openxc.pb.h"
-#include "can-message.hpp"
+#include "message/can-message.hpp"
 #include "../utils/config-parser.hpp"
 #include "../binding/low-can-subscription.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
-
 #define CAN_ACTIVE_TIMEOUT_S 30
 
 class diagnostic_manager_t;
@@ -45,36 +39,38 @@ class diagnostic_manager_t;
 /// 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:
 	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<low_can_subscription_t> can_subscription);
-	void process_can_signals(const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
-	void process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+	void process_signals(std::shared_ptr<message_t> message, std::map<int, std::shared_ptr<low_can_subscription_t> >& s);
+	void process_diagnostic_signals(diagnostic_manager_t& manager, std::shared_ptr<message_t> can_message, std::map<int, std::shared_ptr<low_can_subscription_t> >& 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_t> can_message_q_; ///< queue that'll store can_message_t to decoded
+	std::queue <std::shared_ptr<message_t>> 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 <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that'll store openxc_VehicleMessage to pushed
+	std::queue <std::pair<int, openxc_VehicleMessage> > vehicle_message_q_; ///< queue that will store openxc_VehicleMessage to be pushed
 
 	std::vector<std::pair<std::string, std::string> > can_devices_mapping_; ///< can_devices_mapping_ - holds a mapping between logical CAN devices names and linux CAN devices names.
 public:
 	explicit can_bus_t(utils::config_parser_t conf_file);
 	can_bus_t(can_bus_t&&);
+	~can_bus_t();
 
 	void set_can_devices();
 	int get_can_device_index(const std::string& bus_name) const;
@@ -83,8 +79,8 @@ public:
 	void start_threads();
 	void stop_threads();
 
-	const can_message_t next_can_message();
-	void push_new_can_message(const can_message_t& can_msg);
+	std::shared_ptr<message_t> next_can_message();
+	void push_new_can_message(std::shared_ptr<message_t> can_msg);
 	std::mutex& get_can_message_mutex();
 	std::condition_variable& get_new_can_message_cv();