Reworked reading CAN devices from BCM socket.

Now reading thread hold in can_bus_t object instead of can_bus_dev_t and reading
happens using select().

Change-Id: Ib8cc68c4484679168519f3c0fa485fedd1616c74
Signed-off-by: Romain Forlot <romain.forlot@iot.bzh>

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.cpp b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
index df0c0d6..955e617 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.cpp
@@ -27,6 +27,7 @@
 #include "can-message.hpp"
 #include "../low-can-binding.hpp"
 #include "canutil/write.h"
+#include "../bitfield/bitfield.h"
 
 /// @brief Class constructor
 ///
@@ -45,6 +46,9 @@ int can_bus_dev_t::get_index() const
 {
        return index_;
 }
+utils::socketcan_t& can_bus_dev_t::get_socket()
+{
+       return can_socket_;
 }
 
 /// @brief Open the can socket and returning it
@@ -125,13 +129,12 @@ int can_bus_dev_t::create_rx_filter(const can_signal_t& s)
        struct utils::canfd_bcm_msg bcm_msg;
 
        uint8_t bit_size = s.get_bit_size();
-       float val = (float)exp2(bit_size);
-       uint64_t filter = eightbyte_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset());
+       float val = (float)exp2(bit_size)-1;
 
        bcm_msg.msg_head.opcode  = RX_SETUP;
        bcm_msg.msg_head.can_id  = can_id;
        bcm_msg.msg_head.nframes = 1;
-       U64_DATA(&bcm_msg.frames[0]) = filter;
+       bitfield_encode_float(val, s.get_bit_position(), bit_size, s.get_factor(), s.get_offset(), bcm_msg.frames[0].data, CANFD_MAX_DLEN);
 
        if(can_socket_ << bcm_msg)
                return 0;

diff --git a/CAN-binder/low-can-binding/can/can-bus-dev.hpp b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
index 38727e0..8b4cf47 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus-dev.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus-dev.hpp
@@ -43,10 +43,11 @@ private:
        void can_reader(can_bus_t& can_bus);
 
 public:
-       can_bus_dev_t(const std::string& dev_name, int32_t address);
+       can_bus_dev_t(const std::string& dev_name, int index);
 
        std::string get_device_name() const;
        int get_index() const;
+       utils::socketcan_t& get_socket();
 
        int open();
        void configure();

diff --git a/CAN-binder/low-can-binding/can/can-bus.cpp b/CAN-binder/low-can-binding/can/can-bus.cpp
index 6e74b86..6f9e78d 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus.cpp
+++ b/CAN-binder/low-can-binding/can/can-bus.cpp
@@ -47,6 +47,49 @@ can_bus_t::can_bus_t(utils::config_parser_t conf_file)
 
 std::map<std::string, std::shared_ptr<can_bus_dev_t>> can_bus_t::can_devices_;
 
+/// @brief Listen for all device sockets and fill can_messages_queue with them.
+/// Reading blocks until message arrive on listened sockets.
+///
+/// @return 0 if ok -1 if not
+int can_bus_t::can_reader()
+{
+       fd_set rfds;
+       int sock_max = INVALID_SOCKET;
+
+       FD_ZERO(&rfds);
+
+       for(auto& can_dev : can_devices_)
+       {
+               FD_SET(can_dev.second->get_socket().socket(), &rfds);
+               if (sock_max < can_dev.second->get_socket().socket())
+                       sock_max = can_dev.second->get_socket().socket();
+       }
+
+       int ret;
+       while(is_reading_)
+       {
+               ret = select(sock_max + 1, &rfds, nullptr, nullptr, nullptr);
+
+               if(ret == -1)
+                       perror("select()");
+               else if(ret > 0)
+               {
+                       for(const auto& s: can_devices_)
+                       {
+                               if(FD_ISSET(s.second->get_socket().socket(), &rfds))
+                               {
+                                       can_message_t msg;
+                                       s.second->get_socket() >> msg;
+                                       push_new_can_message(msg);
+                                       }
+                               }
+               }
+               else
+                       printf("Timeout\n");
+       }
+       return 0;
+}
+
 /// @brief Will make the decoding operation on a classic CAN message. It will not
 /// handle CAN commands nor diagnostic messages that have their own method to get
 /// this happens.
@@ -199,6 +242,11 @@ void can_bus_t::can_event_push()
 ///  and push subscribed events.
 void can_bus_t::start_threads()
 {
+       is_reading_ = true;
+       th_reading_ = std::thread(&can_bus_t::can_reader, this);
+       if(!th_reading_.joinable())
+               is_reading_ = false;
+
        is_decoding_ = true;
        th_decoding_ = std::thread(&can_bus_t::can_decode_message, this);
        if(!th_decoding_.joinable())
@@ -215,6 +263,7 @@ void can_bus_t::start_threads()
 /// they'll finish their job.
 void can_bus_t::stop_threads()
 {
+       is_reading_ = false;
        is_decoding_ = false;
        is_pushing_ = false;
 }
@@ -248,7 +297,7 @@ int can_bus_t::init_can_dev()
                                        can_bus_t::can_devices_[device]->configure();
                                        DEBUG(binder_interface, "%s: Start reading thread", __FUNCTION__);
                                        NOTICE(binder_interface, "%s: %s device opened and reading", __FUNCTION__, device.c_str());
-                                       can_bus_t::can_devices_[device]->start_reading(*this);
+                                       //can_bus_t::can_devices_[device]->start_reading(*this);
                                        i++;
                                }
                                else

diff --git a/CAN-binder/low-can-binding/can/can-bus.hpp b/CAN-binder/low-can-binding/can/can-bus.hpp
index 11b3b7a..94aa042 100644 (file)
--- a/CAN-binder/low-can-binding/can/can-bus.hpp
+++ b/CAN-binder/low-can-binding/can/can-bus.hpp
@@ -54,6 +54,10 @@ private:
        int process_can_signals(can_message_t& can_message);
        int process_diagnostic_signals(diagnostic_manager_t& manager, const can_message_t& can_message);
 
+       int can_reader();
+       std::thread th_reading_; ///< Thread handling read the socket can device filling can_message_q_ queue of can_bus_t
+       bool is_reading_ = false; ///< boolean telling whether or not reading is running or not
+
        void can_decode_message();
        std::thread th_decoding_; ///< thread that'll handle decoding a can frame
        bool is_decoding_ = false; ///< boolean member controling thread while loop