can_listener.h

#pragma once
 
/************************************************************************************************
 * @file   can_listener.h
 *
 * @brief  Header file defining the CanListener class
 *
 * @date   2025-01-04
 * @author Aryan Kashem
 ************************************************************************************************/
 
/* Standard library Headers */
#include <atomic>
#include <cstring>
#include <string>
#include <unordered_map>
#include <vector>
 
/* Inter-component Headers */
#include <arpa/inet.h>
#include <fcntl.h>
#include <linux/can.h>
#include <linux/can/bcm.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <unistd.h>
 
#include <nlohmann/json.hpp>
 
/* Intra-component Headers */
 
class CanListener {
 private:
  const std::string CAN_INTERFACE_NAME = "vcan0";  
  const std::string CAN_JSON_NAME = "CANListener"; 
  static const constexpr unsigned int UPDATE_CAN_JSON_PERIOD_MS = 1000U; 
  std::unordered_map<std::string, nlohmann::json> m_canInfo; 
  pthread_mutex_t m_mutex;    
  pthread_t m_listenCanBusId; 
  pthread_t m_updateJSONId;   
  int m_rawCanSocket;              
  std::atomic<bool> m_isListening; 
  void canMessageHandler(uint32_t id, const uint8_t *data);
 
 public:
  CanListener();
 
  ~CanListener();
 
  void listenCanBus();
 
  void listenCanBusProcedure();
 
  void updateJSONProcedure();
};