X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan-bus.cpp;h=f35319a908047bea6e4e6b80f9307f2c6a5598d9;hb=0dcef829862e01ab4272163db3b536c9b70076a0;hp=631f609027999c25651d7b0dd1f1c2c977d84f6b;hpb=937fe8e40aba5eb37c69fd5ff6bf4d800541a009;p=apps%2Fagl-service-can-low-level.git diff --git a/src/can-bus.cpp b/src/can-bus.cpp index 631f6090..f35319a9 100644 --- a/src/can-bus.cpp +++ b/src/can-bus.cpp @@ -58,38 +58,41 @@ void can_bus_t::can_decode_message() decoder_t decoder; - DEBUG(binder_interface, "Beginning of decoding thread."); while(is_decoding_) { { std::unique_lock can_message_lock(can_message_mutex_); new_can_message_.wait(can_message_lock); can_message = next_can_message(); - } - - /* First we have to found which CanSignal it is */ - search_key = build_DynamicField((double)can_message.get_id()); - signals = find_can_signals(search_key); + + /* First we have to found which CanSignal it is */ + search_key = build_DynamicField((double)can_message.get_id()); + signals = find_can_signals(search_key); - /* Decoding the message ! Don't kill the messenger ! */ - for(auto& sig : signals) - { + /* Decoding the message ! Don't kill the messenger ! */ + for(auto& sig : signals) { - std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map subscribed_signals = get_subscribed_signals(); - const auto& it_event = subscribed_signals.find(sig.genericName); - - if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second)) { - decoded_message = decoder.translateSignal(sig, can_message, getSignals()); - - openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, decoded_message); - vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); - - std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); - push_new_vehicle_message(vehicle_message); + std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); + std::map& s = get_subscribed_signals(); + + /* DEBUG message to make easier debugger STL containers... + DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.genericName, afb_event_is_valid(s[sig.genericName])); + DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.genericName, afb_event_is_valid(s[std::string(sig.genericName)])); + DEBUG(binder_interface, "Nb elt matched char: %d", (int)s.count(sig.genericName)); + DEBUG(binder_interface, "Nb elt matched string: %d", (int)s.count(std::string(sig.genericName))); */ + if( s.find(sig.genericName) != s.end() && afb_event_is_valid(s[sig.genericName])) + { + decoded_message = decoder.translateSignal(sig, can_message, getSignals()); + + openxc_SimpleMessage s_message = build_SimpleMessage(sig.genericName, decoded_message); + vehicle_message = build_VehicleMessage_with_SimpleMessage(openxc_DynamicField_Type::openxc_DynamicField_Type_NUM, s_message); + + std::lock_guard decoded_can_message_lock(decoded_can_message_mutex_); + push_new_vehicle_message(vehicle_message); + new_decoded_can_message_.notify_one(); + } } - new_decoded_can_message_.notify_one(); } } } @@ -101,26 +104,23 @@ void can_bus_t::can_event_push() openxc_SimpleMessage s_message; json_object* jo; - DEBUG(binder_interface, "Beginning of the pushing thread"); while(is_pushing_) { { std::unique_lock decoded_can_message_lock(decoded_can_message_mutex_); new_decoded_can_message_.wait(decoded_can_message_lock); v_message = next_vehicle_message(); - } - s_message = get_simple_message(v_message); - - { - std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); - std::map subscribed_signals = get_subscribed_signals(); - const auto& it_event = subscribed_signals.find(s_message.name); - if(it_event != subscribed_signals.end() && afb_event_is_valid(it_event->second)) + s_message = get_simple_message(v_message); { - jo = json_object_new_object(); - jsonify_simple(s_message, jo); - afb_event_push(it_event->second, jo); + std::lock_guard subscribed_signals_lock(get_subscribed_signals_mutex()); + std::map& s = get_subscribed_signals(); + if(s.find(std::string(s_message.name)) != s.end() && afb_event_is_valid(s[std::string(s_message.name)])) + { + jo = json_object_new_object(); + jsonify_simple(s_message, jo); + afb_event_push(s[std::string(s_message.name)], jo); + } } } } @@ -165,6 +165,7 @@ int can_bus_t::init_can_dev() { i++; DEBUG(binder_interface, "Start reading thread"); + NOTICE(binder_interface, "%s device opened and reading", device.c_str()); can_devices_m_[device]->start_reading(*this); } else @@ -240,12 +241,11 @@ can_message_t can_bus_t::next_can_message() { can_msg = can_message_q_.front(); can_message_q_.pop(); - DEBUG(binder_interface, "next_can_message: Here is the next can message : id %X, length %X", can_msg.get_id(), can_msg.get_length()); + DEBUG(binder_interface, "next_can_message: Here is the next can message : id %X, length %X, data %02X%02X%02X%02X%02X%02X%02X%02X", can_msg.get_id(), can_msg.get_length(), + can_msg.get_data()[0], can_msg.get_data()[1], can_msg.get_data()[2], can_msg.get_data()[3], can_msg.get_data()[4], can_msg.get_data()[5], can_msg.get_data()[6], can_msg.get_data()[7]); return can_msg; } - NOTICE(binder_interface, "next_can_message: End of can message queue"); - has_can_message_ = false; return can_msg; } @@ -266,15 +266,12 @@ openxc_VehicleMessage can_bus_t::next_vehicle_message() return v_msg; } - NOTICE(binder_interface, "next_vehicle_message: End of vehicle message queue"); - has_vehicle_message_ = false; return v_msg; } void can_bus_t::push_new_vehicle_message(const openxc_VehicleMessage& v_msg) { vehicle_message_q_.push(v_msg); - has_vehicle_message_ = true; } std::map> can_bus_t::get_can_devices() @@ -378,7 +375,9 @@ std::pair can_bus_dev_t::read() ERROR(binder_interface, "read: Incomplete CAN(FD) frame"); ::memset(&cfd, 0, sizeof(cfd)); } - + + DEBUG(binder_interface, "read: Found id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", cfd.can_id, cfd.len, + cfd.data[0], cfd.data[1], cfd.data[2], cfd.data[3], cfd.data[4], cfd.data[5], cfd.data[6], cfd.data[7]); return std::pair(cfd, nbytes); } @@ -400,7 +399,6 @@ 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_) { can_message.convert_from_canfd_frame(read());