diff --git a/include/can/can.h b/include/can/can.h
index d18be84d92b19e3c0b95208a83af22e1cfad6f7a..aa2bcdfff4238d770c8ce1a83a71dcf29ef21269 100755
--- a/include/can/can.h
+++ b/include/can/can.h
@@ -12,10 +12,12 @@
#include <linux/can.h>
#include <linux/can/bcm.h>
#include <linux/can/raw.h>
+#include <map>
#include "threadserver.h"
#include "eventserver.h"
#include <queue>
+#include "cqueue.h"
/**
* \brief CAN driver
@@ -43,6 +45,8 @@ class CCAN : protected CComm
struct can_filter *rx_filters;
int num_filters;
CMutex can_access;
+ // map of ID/data pair
+ std::map<unsigned int, CQueue> can_messages_map;
protected:
/**
* \brief Function to actually open the device
@@ -222,23 +226,27 @@ class CCAN : protected CComm
/**
* \brief
*/
- void write_frame(unsigned int can_id, unsigned char *data, int len);
+ void write(unsigned int can_id, unsigned char *data, int len);
/**
* \brief
*/
- void read_frame(unsigned int *can_id, unsigned char *data, int *len);
+ void read(unsigned int can_id, unsigned char *data, int len);
/**
* \brief
*/
+ unsigned int get_num_bytes(unsigned int can_id);
+ /**
+ * \brief
+ */
void request_frame(unsigned int can_id, int len);
/**
* \brief
*/
- void add_id_filter(unsigned short int can_id,bool invert);
+ std::string add_id_filter(unsigned short int can_id);
/**
* \brief
*/
- void add_id_filter(unsigned short int can_id, unsigned short int mask,bool invert);
+ std::string add_id_filter(unsigned short int can_id, unsigned short int mask);
/**
* \brief
*/
diff --git a/src/can/can.cpp b/src/can/can.cpp
index 292ca74fd01cbdff2d9d04fe3ecd2b6c4eaab603..abe4748178264be7c6acde69b21a10b9c458487c 100755
--- a/src/can/can.cpp
+++ b/src/can/can.cpp
@@ -179,7 +179,7 @@ void *CCAN::can_thread(void *param)
num=can->get_num_data();
while(num>=sizeof(struct can_frame))// there is a whole frame in the input buffer
{
- can->read((unsigned char *)&new_frame,sizeof(struct can_frame));
+ can->CComm::read((unsigned char *)&new_frame,sizeof(struct can_frame));
if(new_frame.can_id&CAN_RTR_FLAG)
{
// save the requested can_id
@@ -189,10 +189,14 @@ void *CCAN::can_thread(void *param)
}
else
{
- //puch the new frame into the queue
+ //push the new frame into the queue
can->rx_frames.push(new_frame);
+ can->can_messages_map[new_frame.can_id].write(new_frame.data,new_frame.can_dlc);
+ //for (unsigned int i=0; i<new_frame.can_dlc; i++)
+ // can->can_messages_map[new_frame.can_id].push_back(new_frame.data[i]);
// activate the event
can->event_server->set_event(can->new_frame_event_id);
+ can->event_server->set_event((std::to_string(new_frame.can_id) + "_new_data_event_id"));
}
num-=sizeof(struct can_frame);
}
@@ -242,7 +246,7 @@ unsigned long CCAN::get_last_rx_timestamp(void)
return tv.tv_sec*1000000+tv.tv_usec;
}
-void CCAN::write_frame(unsigned int can_id, unsigned char *data, int len)
+void CCAN::write(unsigned int can_id, unsigned char *data, int len)
{
int num_frames=ceil((double)len/8.0),i,j;
struct can_frame frame;
@@ -262,24 +266,19 @@ void CCAN::write_frame(unsigned int can_id, unsigned char *data, int len)
for(j=0;j<frame.can_dlc;j++)
frame.data[j]=data[i*8+j];
// send the frames
- this->write((unsigned char *)&frame,sizeof(struct can_frame));
+ this->CComm::write((unsigned char *)&frame,sizeof(struct can_frame));
}
}
-void CCAN::read_frame(unsigned int *can_id, unsigned char *data, int *len)
+void CCAN::read(unsigned int can_id, unsigned char *data, int len)
{
struct can_frame frame;
int i=0;
this->can_access.enter();
- if(!this->rx_frames.empty())
+ if(!this->can_messages_map[can_id].is_empty())
{
- frame=this->rx_frames.front();
- this->rx_frames.pop();
- *can_id=frame.can_id;
- *len=frame.can_dlc; //COMMENT: Do we need a cast ? frame.can_dlc is __u8 type variable (see /usr/include/linux/can.h)
- for(i=0;i<frame.can_dlc;i++)
- data[i]=frame.data[i];
+ this->can_messages_map[can_id].read(data,len);
}
else
{
@@ -290,7 +289,14 @@ void CCAN::read_frame(unsigned int *can_id, unsigned char *data, int *len)
this->can_access.exit();
}
-void CCAN::add_id_filter(unsigned short int can_id,bool invert)
+unsigned int CCAN::get_num_bytes(unsigned int can_id)
+{
+ unsigned int num_of_frames = this->can_messages_map[can_id].get_num_data();
+
+ return num_of_frames;
+}
+
+std::string CCAN::add_id_filter(unsigned short int can_id)
{
struct can_filter *new_filters;
@@ -310,8 +316,8 @@ void CCAN::add_id_filter(unsigned short int can_id,bool invert)
this->rx_filters[this->num_filters].can_id=can_id;
this->rx_filters[this->num_filters].can_mask=CAN_SFF_MASK;
}
- if(invert)
- this->rx_filters[this->num_filters].can_id|=CAN_INV_FILTER;
+ //if(invert)
+ // this->rx_filters[this->num_filters].can_id|=CAN_INV_FILTER;
// set up the new filters
this->num_filters++;
if(setsockopt(this->can_socket_fd,SOL_CAN_RAW,CAN_RAW_FILTER,this->rx_filters,sizeof(struct can_filter)*this->num_filters)==-1)
@@ -319,9 +325,13 @@ void CCAN::add_id_filter(unsigned short int can_id,bool invert)
/* handle exceptions */
throw CCommException(_HERE_,"Error while setting up the filters",this->comm_id);
}
+ std::string event_id=std::to_string(can_id) + "_new_data_event_id";
+ this->event_server->create_event(event_id);
+
+ return event_id;
}
-void CCAN::add_id_filter(unsigned short int can_id,unsigned short int mask,bool invert)
+std::string CCAN::add_id_filter(unsigned short int can_id,unsigned short int mask)
{
struct can_filter *new_filters;
@@ -341,8 +351,8 @@ void CCAN::add_id_filter(unsigned short int can_id,unsigned short int mask,bool
this->rx_filters[this->num_filters].can_id=can_id;
this->rx_filters[this->num_filters].can_mask=mask;
}
- if(invert)
- this->rx_filters[this->num_filters].can_id|=CAN_INV_FILTER;
+ //if(invert)
+ // this->rx_filters[this->num_filters].can_id|=CAN_INV_FILTER;
// set up the new filters
this->num_filters++;
if(setsockopt(this->can_socket_fd,SOL_CAN_RAW,CAN_RAW_FILTER,this->rx_filters,sizeof(struct can_filter)*this->num_filters)==-1)
@@ -350,6 +360,11 @@ void CCAN::add_id_filter(unsigned short int can_id,unsigned short int mask,bool
/* handle exceptions */
throw CCommException(_HERE_,"Error while setting up the filters",this->comm_id);
}
+
+ std::string event_id=std::to_string(can_id) + "_new_data_event_id";
+ this->event_server->create_event(event_id);
+
+ return event_id;
}
void CCAN::clear_id_filters(void)
diff --git a/src/examples/test_can.cpp b/src/examples/test_can.cpp
index 75e735682e48f1615296913482e314007c5bd01e..4cea86cfd123db3de9cb3f67fe71b401155720e5 100755
--- a/src/examples/test_can.cpp
+++ b/src/examples/test_can.cpp
@@ -36,7 +36,7 @@ int main(int argc,char *argv[])
data[9]=0x0A;
for(i=0;i<10;i++)
{
- can_port.write_frame(0x1FB+i,data,10);
+ can_port.write(0x1FB+i,data,10);
sleep(1);
}
}catch(CCommException &e){
diff --git a/src/examples/test_can_rx.cpp b/src/examples/test_can_rx.cpp
index b067f5fc618d6c2af5f290d643cc45e308111fdf..3ae38a98e9bdd5dc0c2e5b55782c9d98fca29c11 100755
--- a/src/examples/test_can_rx.cpp
+++ b/src/examples/test_can_rx.cpp
@@ -10,7 +10,7 @@
#include <linux/can/raw.h>
#include <linux/can.h>
-const std::string can_dev="can1";
+const std::string can_dev="can0";
/**
* \example test_can.cpp
@@ -22,18 +22,19 @@ int main(int argc,char *argv[])
std::list<std::string> events;
CCAN can_port("can_port");
unsigned char data[8];
- unsigned int can_id;
+ unsigned int can_id=0x200;
int i=0,len;
events.push_back(can_port.get_new_frame_event_id());
try{
can_port.open(can_dev);
- can_port.add_id_filter(0x200,0xFF0,false);
+ can_port.add_id_filter(can_id,0xFF0);
while(1)
{
event_server->wait_all(events);
std::cout << "[" << std::dec << can_port.get_last_rx_timestamp() << "]" << std::endl;
- can_port.read_frame(&can_id,data,&len);
+ len = can_port.get_num_bytes(can_id);
+ can_port.read(can_id,data,len);
std::cout << "can id: 0x" << std::hex << can_id << std::endl;
std::cout << "length: " << len << std::endl;
std::cout << "data: ";
diff --git a/src/examples/test_candump.cpp b/src/examples/test_candump.cpp
deleted file mode 100755
index fb9771356d751196d9830707716fd7c5b192c1d8..0000000000000000000000000000000000000000
--- a/src/examples/test_candump.cpp
+++ /dev/null
@@ -1,60 +0,0 @@
-#include "eventserver.h"
-#include "threadserver.h"
-#include "commexceptions.h"
-#include "can.h"
-#include <stdio.h>
-#include <unistd.h>
-#include <string>
-#include <iostream>
-#include <iomanip>
-
-#include <linux/can/raw.h>
-#include <linux/can.h>
-
-const std::string can_dev="slcan0";
-
-int main(int argc,char *argv[])
-{
- CEventServer *event_server=CEventServer::instance();
- std::list<std::string> events;
- CCAN can_port("can_port");
- CCAN can_port2("can_port2");
- unsigned char data[8];
- unsigned int can_id;
- int i=0,len;
- int event_id;
-
- events.push_back(can_port.get_new_frame_event_id());
- events.push_back(can_port2.get_new_frame_event_id());
- try{
- can_port.open(can_dev);
- can_port2.open(can_dev);
- unsigned short int can_filter = (unsigned short int)(7 << 4);
- can_port.add_id_filter(can_filter, 0x0f0, false);
- can_filter = (unsigned short int)(1 << 4);
- can_port2.add_id_filter(can_filter, 0x0f0, false);
- while(1)
- {
- event_id = event_server->wait_first(events);
- if (event_id == 0)
- {
- can_port.read_frame(&can_id,data,&len);
- std::cout << " " << can_dev << " " << std::uppercase << std::hex <<(int)can_id << std::dec << " [" <<(int)len << "] ";
- for(i=0;i<len;i++)
- std::cout << std::uppercase << std::setw(2) << std::setfill('0') << std::hex << (int)data[i] << " ";
- std::cout << std::dec << std::endl;
-
- }
- else if (event_id == 1)
- {
- can_port2.read_frame(&can_id,data,&len);
- std::cout << " " << can_dev << " " << std::uppercase << std::hex <<(int)can_id << std::dec << " [" <<(int)len << "] ";
- for(i=0;i<len;i++)
- std::cout << std::uppercase << std::setw(2) << std::setfill('0') << std::hex << (int)data[i] << " ";
- std::cout << std::dec << std::endl;
- }
- }
- }catch(CCommException &e){
- std::cout << e.what() << std::endl;
- }
-}