X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-bus.cpp;h=52c81cf188268360c8ebe842dffb31ac4c6921a7;hb=0c9926d385f357e4a0a8bb2932da0aa6e2503b9b;hp=f4a6d55c24a152a344658c46e3a3f87141590792;hpb=5b91b2101f4fb83f622a360b4ab42bdb2bfb4e3f;p=apps%2Fagl-service-can-low-level.git

diff --git a/src/can-bus.cpp b/src/can-bus.cpp
index f4a6d55c..52c81cf1 100644
--- a/src/can-bus.cpp
+++ b/src/can-bus.cpp
@@ -43,7 +43,7 @@ extern "C"
 *
 *********************************************************************************/
 
-can_bus_t::can_bus_t(int& conf_file)
+can_bus_t::can_bus_t(int conf_file)
 	: conf_file_{conf_file}
 {
 }
@@ -59,7 +59,7 @@ void can_bus_t::can_decode_message()
 	decoder_t decoder;
 
 	DEBUG(binder_interface, "Beginning of decoding thread.");
-	while(is_decoding())
+	while(is_decoding_)
 	{
 		{
 			std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
@@ -102,7 +102,7 @@ void can_bus_t::can_event_push()
 	json_object* jo;
 	
 	DEBUG(binder_interface, "Beginning of the pushing thread");
-	while(is_pushing())
+	while(is_pushing_)
 	{
 		{
 			std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
@@ -128,28 +128,21 @@ void can_bus_t::can_event_push()
 
 void can_bus_t::start_threads()
 {
-	th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
 	is_decoding_ = true;
-	th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+	th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
+	if(!th_decoding_.joinable())
+		is_decoding_ = false;
+	
 	is_pushing_ = true;
+	th_pushing_ = std::thread(&can_bus_t::can_event_push, this);
+	if(!th_pushing_.joinable())
+		is_pushing_ = false;
 }
 
 void can_bus_t::stop_threads()
 {
 	is_decoding_ = false;
 	is_pushing_ = false;
-	th_decoding_.join();
-	th_pushing_.join();
-}
-
-bool can_bus_t::is_decoding()
-{
-	return is_decoding_;
-}
-
-bool can_bus_t::is_pushing()
-{
-	return is_pushing_;
 }
 
 int can_bus_t::init_can_dev()
@@ -167,12 +160,12 @@ int can_bus_t::init_can_dev()
 
 		for(const auto& device : devices_name)
 		{
-			can_bus_dev_t can_bus_device_handler(device);
-			if (can_bus_device_handler.open() == 0)
+			can_devices_m_[device] = std::make_shared<can_bus_dev_t>(device);
+			if (can_devices_m_[device]->open() == 0)
 			{
 				i++;
 				DEBUG(binder_interface, "Start reading thread");
-				can_bus_device_handler.start_reading(std::ref(*this));
+				can_devices_m_[device]->start_reading(*this);
 			}
 			else
 				ERROR(binder_interface, "Can't open device %s", device.c_str());
@@ -284,6 +277,11 @@ void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg)
 	has_vehicle_message_ = true;
 }
 
+std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::get_can_devices()
+{
+	return can_devices_m_;
+}
+
 /********************************************************************************
 *
 *		can_bus_dev_t method implementation
@@ -361,7 +359,7 @@ canfd_frame can_bus_dev_t::read()
 {
 	ssize_t nbytes;
 	//int maxdlen;
-	canfd_frame canfd_frame;
+	struct canfd_frame cfd;
 
 	/* Test that socket is really opened */
 	if (can_socket_ < 0)
@@ -370,46 +368,32 @@ canfd_frame can_bus_dev_t::read()
 		is_running_ = false;
 	}
 
-	nbytes = ::read(can_socket_, &canfd_frame, CANFD_MTU);
+	nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
 
-	switch(nbytes)
+	/* if we did not fit into CAN sized messages then stop_reading. */
+	if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
 	{
-		case CANFD_MTU:
-			DEBUG(binder_interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
-			//maxdlen = CANFD_MAX_DLEN;
-			break;
-		case CAN_MTU:
-			DEBUG(binder_interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
-			//maxdlen = CAN_MAX_DLEN;
-			break;
-		default:
-			if (errno == ENETDOWN)
-					ERROR(binder_interface, "read_can: %s binder_interface down", device_name_);
-			ERROR(binder_interface, "read_can: Error reading CAN bus");
-			::memset(&canfd_frame, 0, sizeof(canfd_frame));
-			is_running_ = false;
-			break;
+		if (errno == ENETDOWN)
+			ERROR(binder_interface, "read: %s CAN device down", device_name_);
+		ERROR(binder_interface, "read: Incomplete CAN(FD) frame");
+		::memset(&cfd, 0, sizeof(cfd));
 	}
-	
-	return canfd_frame;
-}
 
-bool can_bus_dev_t::is_running()
-{
-	return is_running_;
+	return cfd;
 }
 
 void can_bus_dev_t::start_reading(can_bus_t& can_bus)
 {
 	DEBUG(binder_interface, "Launching reading thread");
-	th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
 	is_running_ = true;
+	th_reading_ = std::thread(&can_bus_dev_t::can_reader, this, std::ref(can_bus));
+	if(!th_reading_.joinable())
+		is_running_ = false;
 }
 
 void can_bus_dev_t::stop_reading()
 {
 	is_running_ = false;
-	th_reading_.join();
 }
 
 void can_bus_dev_t::can_reader(can_bus_t& can_bus)
@@ -417,7 +401,7 @@ void can_bus_dev_t::can_reader(can_bus_t& can_bus)
 	can_message_t can_message;
 
 	DEBUG(binder_interface, "Beginning of reading thread");
-	while(is_running())
+	while(is_running_)
 	{
 		can_message.convert_from_canfd_frame(read());