+/********************************************************************************
+*
+* can_bus_t method implementation
+*
+*********************************************************************************/
+
+can_bus_t::can_bus_t(int& conf_file)
+ : conf_file_{conf_file}
+{
+}
+
+void can_bus_t::start_threads()
+{
+ th_decoding_ = std::thread(can_decode_message, std::ref(*this));
+ th_pushing_ = std::thread(can_event_push, std::ref(*this));
+}
+
+
+int can_bus_t::init_can_dev()
+{
+ std::vector<std::string> devices_name;
+ int i;
+ size_t t;
+
+ devices_name = read_conf();
+
+ if (! devices_name.empty())
+ {
+ t = devices_name.size();
+ i=0;
+
+ for(const auto& device : devices_name)
+ {
+ can_bus_dev_t can_bus_device_handler(device);
+ can_bus_device_handler.open();
+ can_bus_device_handler.start_reading(std::ref(*this));
+ i++;
+ }
+
+ NOTICE(binder_interface, "Initialized %d/%d can bus device(s)", i, t);
+ return 0;
+ }
+ ERROR(binder_interface, "init_can_dev: Error at CAN device initialization. No devices read into configuration file. Did you specify canbus JSON object ?");
+ return 1;
+}
+
+std::vector<std::string> can_bus_t::read_conf()
+{
+ std::vector<std::string> ret;
+ json_object *jo, *canbus;
+ int n, i;
+
+ FILE *fd = fdopen(conf_file_, "r");
+ if (fd)
+ {
+ std::string fd_conf_content;
+ std::fseek(fd, 0, SEEK_END);
+ fd_conf_content.resize(std::ftell(fd));
+ std::rewind(fd);
+ std::fread(&fd_conf_content[0], 1, fd_conf_content.size(), fd);
+ std::fclose(fd);
+
+ jo = json_tokener_parse(fd_conf_content.c_str());
+
+ if (jo == NULL || !json_object_object_get_ex(jo, "canbus", &canbus))
+ {
+ ERROR(binder_interface, "Can't find canbus node in the configuration file. Please review it.");
+ ret.clear();
+ }
+ else if (json_object_get_type(canbus) != json_type_array)
+ ret.push_back(json_object_get_string(canbus));
+ else
+ {
+ n = json_object_array_length(canbus);
+ for (i = 0 ; i < n ; i++)
+ ret.push_back(json_object_get_string(json_object_array_get_idx(canbus, i)));
+ }
+ return ret;
+ }
+ ERROR(binder_interface, "Problem at reading the conf file");
+ ret.clear();
+ return ret;
+}
+
+can_message_t can_bus_t::next_can_message()
+{
+ can_message_t can_msg;
+
+ if(!can_message_q_.empty())
+ {
+ can_msg = can_message_q_.front();
+ can_message_q_.pop();
+ DEBUG(binder_interface, "next_can_message: Here is the next can message : id %d, length %d", can_msg.get_id(), can_msg.get_length());
+ return can_msg;
+ }
+
+ NOTICE(binder_interface, "next_can_message: End of can message queue");
+ has_can_message_ = false;
+ return can_msg;
+}
+
+void can_bus_t::push_new_can_message(const can_message_t& can_msg)
+{
+ can_message_q_.push(can_msg);
+}
+
+bool can_bus_t::has_can_message() const
+{
+ return has_can_message_;
+}
+
+openxc_VehicleMessage can_bus_t::next_vehicle_message()
+{
+ openxc_VehicleMessage v_msg;
+
+ if(! vehicle_message_q_.empty())
+ {
+ v_msg = vehicle_message_q_.front();
+ vehicle_message_q_.pop();
+ DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
+ 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;
+}
+
+bool can_bus_t::has_vehicle_message() const
+{
+ return has_vehicle_message_;
+}
+
+/********************************************************************************
+*
+* This is the sd_event_add_io callback function declaration.
+* Its implementation can be found into low-can-binding.cpp.
+*
+*********************************************************************************/
+
+int can_frame_received(sd_event_source *s, int fd, uint32_t revents, void *userdata);
+