X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=src%2Fcan_reader.cpp;h=f984c70a0efa0f9f2d5d5c5054e6a7ebad9e6445;hb=035493b81d5bb6d909de05e9a06a0f61588a35aa;hp=aab47b65e38625da3651124b4c58b11c437f37f2;hpb=ec95cbf8d430f9616eff050f510268f9901944b6;p=apps%2Fagl-service-can-low-level.git

diff --git a/src/can_reader.cpp b/src/can_reader.cpp
index aab47b65..f984c70a 100644
--- a/src/can_reader.cpp
+++ b/src/can_reader.cpp
@@ -16,20 +16,25 @@
  * 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(can_bus_t &can_bus)
+void can_reader(can_bus_dev_t &can_bus_dev, can_bus_t& can_bus)
 {
 	can_message_t can_message;
 
-	while(can_bus.is_running())
+	while(can_bus_dev.is_running())
 	{
-		can_message.convert_from_canfd_frame(canbus.read());
-		can_bus.insert_new_can_message(can_message);
+		std::unique_lock<std::mutex> can_frame_lock(can_frame_mutex);
+		new_can_frame.wait(can_frame_lock);
+			can_message.convert_from_canfd_frame(can_bus_dev.read());
+		can_frame_mutex.unlock();
+
+		std::lock_guard<std::mutex> can_message_lock(can_message_mutex);
+			can_bus.push_new_can_message(can_message);
+		can_message_mutex.unlock();
+		new_can_message.notify_one();
 	}
 }
\ No newline at end of file