CanListener

Class that handles message listening over a SocketCAN interface. More...

#include <can_listener.h>

Public Member Functions
	CanListener ()
	Constructs a CanListener object. More...
	~CanListener ()
	Destructs a CanListener object. More...
void	listenCanBus ()
	Initiate the CAN Bus listener on a Raw SocketCAN port. More...
void	listenCanBusProcedure ()
	Thread procedure for listening to the CAN bus. More...
void	updateJSONProcedure ()
	Thread procedure for updating the global JSON object. More...

Private Member Functions
void	canMessageHandler (uint32_t id, const uint8_t *data)
	Handles receiving new CAN messages. More...

Private Attributes
const std::string	CAN_INTERFACE_NAME = "vcan0"
const std::string	CAN_JSON_NAME = "CANListener"
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

Static Private Attributes
static const constexpr unsigned int	UPDATE_CAN_JSON_PERIOD_MS = 1000U

Detailed Description

Class that handles message listening over a SocketCAN interface.

This class is responsible listening to CAN messages and updating a JSON file This class shall cache the latest data and update the JSON every UPDATE_CAN_JSON_PERIOD_MS

Constructor & Destructor Documentation

CanListener()

CanListener

(

)

Constructs a CanListener object.

Initializes the CanListener. The constructor sets up internal variables The constructor shall intialize the mutex

~CanListener()

~CanListener

(

)

Destructs a CanListener object.

Initializes the CanListener. The constructor sets up internal variables The destructor shall release the mutex

Member Function Documentation

canMessageHandler()

void canMessageHandler ( uint32_t  id, const uint8_t *  data  )

private

Handles receiving new CAN messages.

Main CAN message Handler.

Boolean flag to track the CAN bus connection status

This function is called by the listeningCanBusProcedure This function is autogenerated

This function shall dynamically allocate a struct based on the CAN ID This function shall decode the data, then update the CAN Cache 'm_canInfo' with JSON data

Parameters

id	Can message ID
data	Pointer to the CAN message data

listenCanBus()

void listenCanBus

(

)

Initiate the CAN Bus listener on a Raw SocketCAN port.

This shall start the listenCanBusProcedure and updateJSONProcedure

listenCanBusProcedure()

void listenCanBusProcedure

(

)

Thread procedure for listening to the CAN bus.

This thread shall store the latest CAN data in the m_canInfo unordered map

updateJSONProcedure()

void updateJSONProcedure

(

)

Thread procedure for updating the global JSON object.

This thread shall update the JSON at UPDATE_CAN_JSON_PERIOD_MS

Member Data Documentation

CAN_INTERFACE_NAME

const std::string CAN_INTERFACE_NAME = "vcan0"

private

SocketCAN interface name

CAN_JSON_NAME

const std::string CAN_JSON_NAME = "CANListener"

private

CAN JSON file name

m_canInfo

std::unordered_map<std::string, nlohmann::json> m_canInfo

private

Hash-map to cache the latest CAN data

m_listenCanBusId

pthread_t m_listenCanBusId

private

Thread Id for listening to the CAN bus

m_mutex

pthread_mutex_t m_mutex

private

Mutex to protect m_canInfo

m_rawCanSocket

int m_rawCanSocket

private

Raw SocketCAN FD

m_updateJSONId

pthread_t m_updateJSONId

private

Thread Id for updating the CAN JSON

UPDATE_CAN_JSON_PERIOD_MS

const constexpr unsigned int UPDATE_CAN_JSON_PERIOD_MS = 1000U

staticconstexprprivate

JSON Update period in milliseconds

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The documentation for this class was generated from the following files:

• simulation/server/app/inc/can_listener.h
• simulation/server/app/src/can_listener.cc
• simulation/server/app/src/can_message_handler.cc