can_reader.cpp

来自「嵌入式LINUX的智能家居系统源码」· C++ 代码 · 共 65 行

//////////////////////////////////////////////////////////////
///author:YslayerY
///		  upc
/////////////////////////////////////////////////////////////
#include"can_reader.h"
#include<stdio.h>
bool	need_stop; 
can_reader * pcan_reader;
void * reader(void * data)			//checked should have no problem  BIG SMILE
{
	ucmd cc;
	int can_fd = (int)data;
	CanData candy;
	int cmd;
	while(!need_stop)
	{
			read(can_fd,&candy,sizeof(CanData));
			if((candy.data)[1] & DOOR_M)
			{
				for(int i=0;i<4;i++)
				{
					cc.a[i]=candy.data[i+2];
				}	
				pcan_reader->emit_cmd(cc.cmd);
			}
	}
	return NULL;
}
void can_reader::emit_cmd(int cmd)
{
	emit sig_cmd(cmd);
}
can_reader::can_reader()
{
	need_stop = true;
	pcan_reader = this;
}
can_reader::~can_reader()
{}
void can_reader::init()		//check should be no error
{
	int id = 0x123;
	if((can_fd=open(CAN_DEV,O_RDWR))< 0)
	{
		printf("error ker board can device open error \n");		
	}
	else printf("can opened \n");
	ioctl(can_fd, UPCAN_IOCTRL_PRINTRIGISTER, 1);
	ioctl(can_fd, UPCAN_IOCTRL_SETID, id);
	ioctl(can_fd, UPCAN_IOCTRL_SETLPBK, 0);
	printf("can inited \n");
}
void can_reader::start()
{
	pthread_create(&th_reader,NULL,reader,(void *)can_fd);
	need_stop = false;
}
void can_reader::stop()
{
	need_stop = true;
}