can_reader.cpp

嵌入式LINUX的智能家居系统源码

//////////////////////////////////////////////////////////////
///author:YslayerY
///		  upc
/////////////////////////////////////////////////////////////
#include"can_reader.h"
#include<stdio.h>
bool	need_stop; 
can_reader * pcan_reader;
typedef union
{
	char a[4];
	int  cmd;
}cc;
void * reader(void * data)			//checked should have no problem  BIG SMILE
{
	printf("can reader started \n");
	cc cccmd;
	int can_fd = (int)data;
	CanData candy;
	int cmd;
	while(!need_stop)
	{
			read(can_fd,&candy,sizeof(CanData));
			for(int i=0;i<4;i++)
			{
				cccmd.a[i] = candy.data[i+2];
			}
			printf("can :cmd %x received \n",cccmd.cmd);
			pcan_reader->emit_cmd(cccmd.cmd);
	}
	printf("reader returned \n");
	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
{
	can_fd = -1;
	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()
{
	need_stop = false;
	pthread_create(&th_reader,NULL,reader,(void *)can_fd);
}
void can_reader::stop()
{
	need_stop = true;
}