////-------------------------------------------------------------------------------------////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));}