/**
-* @brief thread to decoding raw CAN messages.
+* @brief thread to decoding raw CAN messages.
*
-* @desc It will take from the can_message_q_ queue the next can message to process then it will search
-* about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
+* @desc It will take from the can_message_q_ queue the next can message to process then it will search
+* about signal subscribed if there is a valid afb_event for it. We only decode signal for which a
* subscription has been made. Can message will be decoded using translateSignal that will pass it to the
* corresponding decoding function if there is one assigned for that signal. If not, it will be the default
* noopDecoder function that will operate on it.
std::unique_lock<std::mutex> can_message_lock(can_message_mutex_);
new_can_message_cv_.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.clear();
{
std::lock_guard<std::mutex> subscribed_signals_lock(get_subscribed_signals_mutex());
std::map<std::string, struct afb_event>& s = get_subscribed_signals();
-
+
/* DEBUG message to make easier debugger STL containers...
DEBUG(binder_interface, "Operator[] key char: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[sig.generic_name]));
DEBUG(binder_interface, "Operator[] key string: %s, event valid? %d", sig.generic_name, afb_event_is_valid(s[std::string(sig.generic_name)]));
}
/**
-* @brief thread to push events to suscribers. It will read subscribed_signals map to look
+* @brief thread to push events to suscribers. It will read subscribed_signals map to look
* which are events that has to be pushed.
*/
void can_bus_t::can_event_push()
openxc_VehicleMessage v_message;
openxc_SimpleMessage s_message;
json_object* jo;
-
+
while(is_pushing_)
{
std::unique_lock<std::mutex> decoded_can_message_lock(decoded_can_message_mutex_);
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())
/**
* @brief Will stop all threads holded by can_bus_t object
-* which are decoding and pushing then will wait that's
+* which are decoding and pushing then will wait that's
* they'll finish their job.
*/
void can_bus_t::stop_threads()
}
/**
-* @brief Will initialize can_bus_dev_t objects after reading
+* @brief Will initialize can_bus_dev_t objects after reading
* the configuration file passed in the constructor.
*/
int can_bus_t::init_can_dev()
{/**
* @brief Telling if the pushing thread is running
* This is the boolean value on which the while loop
-* take its condition. Set it to false will stop the
+* take its condition. Set it to false will stop the
* according thread.
*
* @return true if pushing thread is running, false if not.
}
/**
-* @brief Return first can_message_t on the queue
+* @brief Return first can_message_t on the queue
*
-* @return a can_message_t
+* @return a can_message_t
*/
can_message_t can_bus_t::next_can_message()
{
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;
}
-
+
return can_msg;
}
}
/**
-* @brief Return first openxc_VehicleMessage on the queue
+* @brief Return first openxc_VehicleMessage on the queue
*
* @return a openxc_VehicleMessage containing a decoded can message
*/
DEBUG(binder_interface, "next_vehicle_message: next vehicle message poped");
return v_msg;
}
-
+
return v_msg;
}
return can_devices_m_;
}
-/********************************************************************************
-*
-* can_bus_dev_t method implementation
-*
-*********************************************************************************/
-
-/**
- * @brief Open the can socket and returning it
- *
- * @return
- */
-int can_bus_dev_t::close()
-{
- ::close(can_socket_);
- can_socket_ = -1;
- return can_socket_;
-}
-
-/**
-* @brief Read the can socket and retrieve canfd_frame
-*
-* @param const struct afb_binding_interface* interface pointer. Used to be able to log
-* using application framework logger.
-*/
-std::pair<struct canfd_frame&, size_t> can_bus_dev_t::read()
-{
- ssize_t nbytes;
- //int maxdlen;
- struct canfd_frame cfd;
-
- /* Test that socket is really opened */
- if (can_socket_ < 0)
- {
- ERROR(binder_interface, "read_can: Socket unavailable. Closing thread.");
- is_running_ = false;
- }
-
- nbytes = ::read(can_socket_, &cfd, CANFD_MTU);
-
- /* if we did not fit into CAN sized messages then stop_reading. */
- if (nbytes != CANFD_MTU && nbytes != CAN_MTU)
- {
- 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));
- }
-
- 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<struct canfd_frame&, size_t>(cfd, nbytes);
-}
-
-/**
-* @brief start reading threads and set flag is_running_
-*
-* @param can_bus_t reference can_bus_t. it will be passed to the thread
-* to allow using can_bus_t queue.
-*/
-void can_bus_dev_t::start_reading(can_bus_t& can_bus)
-{
- DEBUG(binder_interface, "Launching reading thread");
- 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;
-}
-
-/**
-* @brief stop the reading thread setting flag is_running_ to false and
-* and wait that the thread finish its job.
-*/
-void can_bus_dev_t::stop_reading()
-{
- is_running_ = false;
-}
-
-/**
-*
-* @brief Thread function used to read the can socket.
-*
-* @param[in] can_bus_dev_t object to be used to read the can socket
-* @param[in] can_bus_t object used to fill can_message_q_ queue
-*/
-void can_bus_dev_t::can_reader(can_bus_t& can_bus)
-{
- can_message_t can_message;
-
- while(is_running_)
- {
- can_message.convert_from_canfd_frame(read());
-
- {
- std::lock_guard<std::mutex> can_message_lock(can_bus.get_can_message_mutex());
- can_bus.push_new_can_message(can_message);
- }
- can_bus.get_new_can_message_cv().notify_one();
- }
-}
-
-/**
-* @brief Send a can message from a can_message_t object.
-*
-* @param const can_message_t& can_msg: the can message object to send
-* @param const struct afb_binding_interface* interface pointer. Used to be able to log
-* using application framework logger.
-*/
-int can_bus_dev_t::send_can_message(can_message_t& can_msg)
-{
- ssize_t nbytes;
- canfd_frame f;
-
- f = can_msg.convert_to_canfd_frame();
-
- if(can_socket_ >= 0)
- {
- nbytes = ::sendto(can_socket_, &f, sizeof(struct canfd_frame), 0,
- (struct sockaddr*)&txAddress_, sizeof(txAddress_));
- if (nbytes == -1)
- {
- ERROR(binder_interface, "send_can_message: Sending CAN frame failed.");
- return -1;
- }
- return (int)nbytes;
- }
- else
- {
- ERROR(binder_interface, "send_can_message: socket not initialized. Attempt to reopen can device socket.");
- open();
- }
- return 0;
-}
Code Review / apps / agl-service-can-low-level.git / commitdiff