X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan_reader.cpp;h=7ae981b80edb5f4a136a176ebe1b9c4a4c02eb4a;hb=9a8dcb99c3efb5b00b0a014e4699655d479d9925;hp=6403cfa77f770b46755345dcf1549551ec78c929;hpb=b162907a78a1846d99f0951a052d6d721eb96f08;p=apps%2Flow-level-can-service.git

diff --git a/src/can_reader.cpp b/src/can_reader.cpp
index 6403cfa..7ae981b 100644
--- a/src/can_reader.cpp
+++ b/src/can_reader.cpp
@@ -16,51 +16,23 @@
  * limitations under the License.
  */
 
-#include <linux/can.h>
-#include <linux/can/raw.h>
+#include "can_reader.hpp"
 
-#include <afb/afb-binding.h>
+#include "low-can-binding.hpp"
+#include "can-utils.hpp"
 
-#include "can-utils.h"
-
-void can_reader(CanBus_c *can_bus))
+void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus)
 {
-	ssize_t nbytes;
-	int maxdlen;
-	CanMessage_c can_message;
-	canfd_frame canfd_frame;
-
-	/* Test that socket is really opened */
-	if ( can_bus->socket < 0)
-	{
-		ERROR(interface, "read_can: Socket unavailable");
-		return -1;
-	}
+	can_message_t can_message;
 
-	while(true)
+	while(can_bus_dev.is_running())
 	{
-		nbytes = read(can_bus->socket, &canfd_frame, CANFD_MTU);
+		can_message.convert_from_canfd_frame(can_bus_dev.read());
 
-		switch(nbytes)
 		{
-			case CANFD_MTU:
-				DEBUG(interface, "read_can: Got an CAN FD frame with length %d", canfd_frame.len);
-				maxdlen = CANFD_MAX_DLEN;
-				break;
-			case CAN_MTU:
-				DEBUG(interface, "read_can: Got a legacy CAN frame with length %d", canfd_frame.len);
-				maxdlen = CAN_MAX_DLEN;
-				break;
-			default:
-				if (errno == ENETDOWN)
-					ERROR(interface, "read_can: %s interface down", device);
-				
-				ERROR(interface, "read_can: Error reading CAN bus");
-				return -2;
+			std::lock_guard<std::mutex> can_message_lock(can_message_mutex);
+			can_bus.push_new_can_message(can_message);
 		}
-
-		can_message.convert_from_canfd_frame(canfd_frame);
-
-		can_message_q.push(can_message);
+		new_can_message.notify_one();
 	}
 }
\ No newline at end of file