# HG changeset patch
# User matthewreed
# Date 2016-08-17 22:06:44
# Node ID 4d9b047f84367d618ee06f8aacc3a3b6469a0012
# Parent  4ccedc2f8509b1ee65a90f72882fd65d3cb07795

Updated CAN code to use CanQueue for sending and receiving

diff --git a/hydrobot.py b/hydrobot.py
--- a/hydrobot.py
+++ b/hydrobot.py
@@ -8,6 +8,7 @@ from canard import can, messaging
 from canard.hw import socketcan
 from canard.hw import cantact
 from canard.file import jsondb
+from canard.utils import queue
 from influxdb import InfluxDBClient
 from influxdb import SeriesHelper
 from apscheduler.schedulers.background import BackgroundScheduler
@@ -98,6 +99,8 @@ class CanBus:
         #self.dev = cantact.CantactDev("/dev/ttyACM8")
         #self.dev.set_bitrate(500000)
         
+        self.queue = queue.CanQueue(self.dev)
+        
         parser = jsondb.JsonDbParser()
         self.msgdb = parser.parse('hydrobot_can.json')
         
@@ -106,18 +109,17 @@ class CanBus:
         self.relay_send_msg = self.msgdb.RelayDriveOut
         
     def start(self):
-        self.dev.start()
-        
-    def start_receive(self):
+        self.queue.start()
         _thread.start_new_thread(self.process_can, ())
 
     def process_can(self):
         while True:
-            frame = self.dev.recv()
-            message = self.msgdb.decode(frame)
-            if message:
-                logger.debug("Received CAN message! ID: " + hex(message.id))
-                self.database.log_data(self.msgdb, message)
+            frame = self.queue.recv()
+            if frame != None:
+                message = self.msgdb.decode(frame)
+                if message:
+                    logger.debug("Received CAN message! ID: " + hex(message.id))
+                    self.database.log_data(self.msgdb, message)
                 
     def send_can(self):
         self.relay_send_msg.Nothing.value = 0
@@ -129,13 +131,13 @@ class CanBus:
         self.relay_send_msg.Output3.value = 1
         self.relay_send_msg.Output4.value = 1
         logger.debug("Send CAN message! ID: " + hex(self.relay_send_msg.id) + " Data: " + str(self.relay_send_msg.data))
-        self.dev.send(self.relay_send_msg.encode())
+        self.queue.send(self.relay_send_msg.encode())
         
     def set_output(self, module, output, state):
         logger.info("Output! " + module + " " + output + " " + str(state))
         msg = self.msgdb.lookup_message(module)
         msg.lookup_signal(output).value = state
-        self.dev.send(msg.encode())
+        self.queue.send(msg.encode())
         
         if msg.lookup_signal(output) == msg.Output1:
             MySeriesHelper(measurement='output_1', value=state)
@@ -255,7 +257,6 @@ def main():
     
     canbus = CanBus(database)
     canbus.start()
-    canbus.start_receive()
     
     scheduler = Scheduler(canbus)
     scheduler.start()