Changed the name of the get_num_bytes() function to get_num_data().

Changed the map of data queues to use a pointer.
Added a new map for the new data events.
Both maps are updated with the add_filter and clear_filter functions.

include/can/can.h

@@ -46,7 +46,8 @@ class CCAN : protected CComm
     int num_filters;
     CMutex can_access;
     // map of ID/data pair
-    std::map<unsigned int, CQueue> can_messages_map; 
+    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
@@ -207,6 +208,10 @@ 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
      */
@@ -234,7 +239,7 @@ class CCAN : protected CComm
     /** 
      * \brief
      */
-    unsigned int get_num_bytes(unsigned int can_id);
+    unsigned int get_num_data(unsigned int can_id);
     /**
      * \brief
      */

src/can/can.cpp

@@ -176,7 +176,7 @@ 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->CComm::read((unsigned char *)&new_frame,sizeof(struct can_frame));
@@ -191,14 +191,15 @@ void *CCAN::can_thread(void *param)
         {
           //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);
+          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_messages_map[new_frame.can_id].push_back(new_frame.data[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();
     }
@@ -218,6 +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;
@@ -272,13 +280,10 @@ void CCAN::write(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->can_messages_map[can_id].is_empty())
+  if(!this->can_data_map[can_id]->is_empty())
   {
-    this->can_messages_map[can_id].read(data,len);
+    this->can_data_map[can_id]->read(data,len);
   }
   else
   {
@@ -289,11 +294,16 @@ void CCAN::read(unsigned int can_id, unsigned char *data, int len)
   this->can_access.exit();
 }
 
-unsigned int CCAN::get_num_bytes(unsigned int can_id)
+unsigned int CCAN::get_num_data(unsigned int can_id)
 {
-  unsigned int num_of_frames = this->can_messages_map[can_id].get_num_data();
+  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_of_frames;
+  return num_data;
 }
 
 std::string CCAN::add_id_filter(unsigned short int can_id)
@@ -325,10 +335,11 @@ std::string CCAN::add_id_filter(unsigned short int can_id)
     /* 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);
+  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 event_id;
+  return this->can_event_map[can_id];
 }
 
 std::string CCAN::add_id_filter(unsigned short int can_id,unsigned short int mask)
@@ -361,14 +372,18 @@ std::string CCAN::add_id_filter(unsigned short int can_id,unsigned short int mas
     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);
+  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 event_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;
@@ -380,6 +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)
@@ -390,6 +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();
@@ -419,5 +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;
 }
 

src/examples/test_can_rx.cpp

@@ -33,7 +33,7 @@ int main(int argc,char *argv[])
     {
       event_server->wait_all(events);
       std::cout << "[" << std::dec << can_port.get_last_rx_timestamp() << "]" << std::endl;
-      len = can_port.get_num_bytes(can_id);
+      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;