modularization/src/driver/driver_ultrasonic_dauxi_KS136A/canrecv_producer.cpp

#include "canrecv_producer.h"

#include <thread>

#include <iostream>
#include <string>
//#include <stdlib.h>
#include <unistd.h>

#include <net/if.h>
//#include <sys/ioctl.h>
#include <sys/socket.h>

#include <linux/can.h>
#include <linux/can/raw.h>

CANRecv_Producer::CANRecv_Producer(CAN_Producer_Consumer *pBuf)
{
    pBuffer = pBuf;
}

CANRecv_Producer::~CANRecv_Producer()
{
    requestInterruption();
    while(this->isFinished() == false);
    close(s);
}

void CANRecv_Producer::run()
{
    iv::can::canraw xraw;

    if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
    {
        perror("socket");
    }

    while (!QThread::isInterruptionRequested())
    {
        std::cout<<"send consumer time :"<<std::endl;
        sleep(1);
    }
}