can.cpp

嵌入式LINUX的智能家居系统源码

////-------------------------------------------------------------------------------------
////this is the complement of the class can
#include"can.h"
#include<string.h>
Can::Can()                          //this connects the signals and slots in this class
{
	connect(&reader,SIGNAL(sig_cmd(int)),this,SIGNAL(sig_cmd(int)));
}
int Can::init()                     //here should be some problem to solve about can dev init
{
	reader.init();
	reader.start();
}
typedef union
{
	long cmd;
	unsigned char c[sizeof(long)];
}ucmd;
void Can::write_cmd(int cmd,char to)
{
	printf("can get cmd %x \n",cmd);
	ucmd ccmd;
	CanData candy;
	memset(&candy,0,sizeof(CanData));////////////!!!!!!!!!!!!!!!!!!!!!!!!
	candy.id = 0x123;			////////!!!!!!!!!!!!!!!!!!!!!!
	candy.data[0] = 0;
	candy.data[0] |= MODULE;
	candy.data[1] |= to;
	candy.dlc = 8;			/////////////////////////!!!!!!!!!!!!!!!!!!!!!!!!!!!!
	ucmd cccmd;
	ccmd.cmd = cmd;
	int i;	
	for(i=0;i<4;i++)
	{
		candy.data[i+2] = ccmd.c[i];
	}
	for(i=0;i<4;i++)
		cccmd.c[i]=candy.data[i+2];

	printf("can sent cmd %x \n",cccmd.cmd);
	int n =write(reader.can_fd,&candy,sizeof(candy));
}