diff --git a/include/can/can.h b/include/can/can.h
index 03fd41459585e1434a9eb3283b203cb6a6cf3a33..57251edcbbe8cead6f980e9f6f8cb78c4090e895 100755
--- a/include/can/can.h
+++ b/include/can/can.h
@@ -12,11 +12,13 @@
#include <linux/can.h>
#include <linux/can/bcm.h>
#include <linux/can/raw.h>
+#include <map>
#include <linux/sockios.h>
#include "threadserver.h"
#include "eventserver.h"
#include <queue>
+#include "cqueue.h"
/**
* \brief CAN driver
@@ -44,6 +46,9 @@ 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_data_map;
+ std::map<unsigned int, std::string> can_event_map;
protected:
/**
* \brief Function to actually open the device
@@ -204,6 +209,10 @@ class CCAN : protected CComm
* \brief
*/
std::string get_new_frame_event_id(void);
+ /**
+ * \brief
+ */
+ std::string get_new_frame_event_id(unsigned int can_id);
/**
* \brief
*/
@@ -223,23 +232,27 @@ 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_data(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..02a3402150e545dffbc64b0f9246bd301191445e 100755
--- a/src/can/can.cpp
+++ b/src/can/can.cpp
@@ -176,10 +176,10 @@ void *CCAN::can_thread(void *param)
{
can->can_access.enter();
// process the incomming data
- num=can->get_num_data();
+ num=((CComm *)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
@@ -189,12 +189,17 @@ 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_data_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_data_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);
+ num=((CComm *)can)->get_num_data();
+ //num-=sizeof(struct can_frame);
}
can->can_access.exit();
}
@@ -214,6 +219,13 @@ std::string CCAN::get_new_frame_event_id(void)
return this->new_frame_event_id;
}
+std::string CCAN::get_new_frame_event_id(unsigned int can_id)
+{
+ if(this->can_event_map.find(can_id)==this->can_event_map.end())
+ throw CCommException(_HERE_,"Invalid can ID",this->comm_id);
+ return this->can_event_map[can_id];
+}
+
std::string CCAN::get_frame_error_event_id(void)
{
return this->frame_error_event_id;
@@ -242,7 +254,7 @@ 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 +274,16 @@ 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_data_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_data_map[can_id]->read(data,len);
}
else
{
@@ -290,7 +294,19 @@ 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_data(unsigned int can_id)
+{
+ unsigned int num_data;
+
+ if(this->can_data_map.find(can_id)==this->can_data_map.end())
+ throw CCommException(_HERE_,"Invalid can ID",this->comm_id);
+
+ num_data = this->can_data_map[can_id]->get_num_data();
+
+ return num_data;
+}
+
+std::string CCAN::add_id_filter(unsigned short int can_id)
{
struct can_filter *new_filters;
@@ -310,8 +326,8 @@ 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 +335,14 @@ 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);
}
+ this->can_data_map[can_id]=new CQueue();
+ this->can_event_map[can_id]=std::to_string(can_id) + "_new_data_event_id";
+ this->event_server->create_event(this->can_event_map[can_id]);
+
+ return this->can_event_map[can_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 +362,8 @@ 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)
@@ -350,10 +371,19 @@ 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);
}
+
+ this->can_data_map[can_id]=new CQueue();
+ this->can_event_map[can_id]=std::to_string(can_id) + "_new_data_event_id";
+ this->event_server->create_event(this->can_event_map[can_id]);
+
+ return this->can_event_map[can_id];
}
void CCAN::clear_id_filters(void)
{
+ std::map<unsigned int,std::string>::iterator it;
+ std::map<unsigned int,CQueue *>::iterator data_it;
+
if(this->rx_filters!=NULL)
{
delete this->rx_filters;
@@ -365,6 +395,11 @@ void CCAN::clear_id_filters(void)
/* handle exceptions */
throw CCommException(_HERE_,"Error while clearing the existing filters",this->comm_id);
}
+
+ for(it=this->can_event_map.begin();it!=this->can_event_map.end();it++)
+ this->event_server->delete_event(it->second);
+ for(data_it=this->can_data_map.begin();data_it!=this->can_data_map.end();data_it++)
+ delete data_it->second;
}
void CCAN::close(void)
@@ -375,6 +410,9 @@ void CCAN::close(void)
CCAN::~CCAN()
{
+ std::map<unsigned int,std::string>::iterator it;
+ std::map<unsigned int,CQueue *>::iterator data_it;
+
// close the can device
if(this->can_socket_fd!=-1)
CComm::close();
@@ -404,5 +442,9 @@ CCAN::~CCAN()
this->event_server->delete_event(this->data_requested_event_id);
this->data_requested_event_id="";
}
+ for(it=this->can_event_map.begin();it!=this->can_event_map.end();it++)
+ this->event_server->delete_event(it->second);
+ for(data_it=this->can_data_map.begin();data_it!=this->can_data_map.end();data_it++)
+ delete data_it->second;
}
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index 39a241c14d2eb533a4149dec7680359850d22857..dcdee1297e8711425bc3c9b4b996812738ca21e1 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -22,12 +22,6 @@ ADD_EXECUTABLE(test_virtual_can_rx test_virtual_can_rx.cpp)
# edit the following line to add the necessary libraries
TARGET_LINK_LIBRARIES(test_virtual_can_rx ${IRIUTILS_LIBRARY} comm pthread)
-# edit the following line to add the source code for the example and the name of the executable
-ADD_EXECUTABLE(test_candump test_candump.cpp)
-
-# edit the following line to add the necessary libraries
-TARGET_LINK_LIBRARIES(test_candump ${IRIUTILS_LIBRARY} comm pthread)
-
IF(BUILD_FTDI)
ADD_EXECUTABLE(test_ftdi test_ftdi.cpp)
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..049504e0a6754136ed3f4c7d356aeb41b97c540b 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_data(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;
- }
-}