当前位置：网站首页>[C language foundation] Solve C language error: expected ';', ',' or ')' before '&' token

[C language foundation] Solve C language error: expected ';', ',' or ')' before '&' token

2022-07-31 02:46:00 【51CTO】

can test code

tfl_can.c

       
       #include "tfl_can.h"
       
// 
       
int can_init( int* sock )
       
{
       
    struct sockaddr_can addr;
       
    struct ifreq ifr;
       
    const char* ifrname = "can1";
       
    // open socket
       
    if ((*sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) 
       
    {
       
        perror("Error open socket...\n");
       
        return 1;
       
    }
       
    strcpy(ifr.ifr_name, ifrname); 
       
    // ioctl(*sock, SIOCGIFINDEX, &ifr);
       
    ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);  
       
    // printf("%s \n", ifr.ifr_name);
       
    if (!ifr.ifr_ifindex) 
       
    {
       
        perror("if_nametoindex error...\n");
       
        return 1;
       
    }
       
    memset(&addr, 0, sizeof(addr));
       
    addr.can_family = AF_CAN;                        
       
    addr.can_ifindex = ifr.ifr_ifindex;              
       
    setsockopt(*sock, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0); //disable filter. 
       
    // bind socket
       
    if (bind(*sock, (struct sockaddr *)&addr, sizeof(addr)) < 0) 
       
    {
       
        perror("Error in socket bind...\n");
       
        return 1;
       
    }
       
    return 0;
       
}
       
void can_tfl(int s, TFL* data)
       
{
       
    char buf[5][8] = {0};
       
    buf[0][7] = (data->total)<<2;
       
    for(int i=0; i<5; i++)
       
    {
       
        buf[i][0] = ((data->type)<<4) + (data->color);
       
        buf[i][1] = (data->xpos)>>4;
       
        buf[i][2] = ((data->xpos)<<8) + ((data->level)<<2);
       
        data++;
       
        buf[i][4] = ((data->type)<<4) + (data->color);
       
        buf[i][5] = (data->xpos)>>4;
       
        buf[i][6] = ((data->xpos)<<8) + ((data->level)<<2);
       
        buf[i][7] = buf[i][7] + (data->rlcnt);
       
        if(i<4) data++;
       
        cansend_tfl(s, i, buf[i]);
       
        usleep(2000); // us
       
    }
       
    printf("**********can_tfl once*******\n");
       
    return;
       
}
       
void cansend_tfl(int s, int i, char* buffer)
       
{
       
    // send CAN frame
       
    struct can_frame frame;
       
    if(i==0) frame.can_id = 0x461;
       
    else if(i==1) frame.can_id = 0x462;
       
    else if(i==2) frame.can_id = 0x463;
       
    else if(i==3) frame.can_id = 0x464;
       
    else if(i==4) frame.can_id = 0x465;
       
    frame.can_dlc = 8;
       
    frame.data[0] = *buffer;
       
    frame.data[1] = *(buffer+1);
       
    frame.data[2] = *(buffer+2);
       
    frame.data[3] = *(buffer+3);
       
    frame.data[4] = *(buffer+4);
       
    frame.data[5] = *(buffer+5);
       
    frame.data[6] = *(buffer+6);
       
    frame.data[7] = *(buffer+7);
       
    printf("frame: %x %x %x %x %x %x %x %x\n", *buffer, *(buffer+1), *(buffer+2), *(buffer+3), *(buffer+4), *(buffer+5), *(buffer+6), *(buffer+7));
       
    // int nbyte = write(s, &frame, sizeof(struct can_frame));
       
    // printf("nbyte: %d, CAN_MTU: %d\n", nbyte, CAN_MTU);
       
    if(write(s, &frame, sizeof(struct can_frame)) != CAN_MTU)
       
    {
       
        perror("write frame error.\n");
       
        return;
       
    }
       
    return;
       
}
       
int main()
       
{
       
    for (int k=0; k<100; k++)
       
    {
       
        TFL objs[10] = {{1, 1, 640, 3, 2, 0}, {3, 1, 456, 2, 2, 0}, {0}};
       
        for(int i=0; i<10; i++) objs[i].rlcnt = 1;
       
        TFL* data = objs;
       
        int s;
       
        can_init(&s);
       
        can_tfl(s, data);
       
        close(s);
       
        printf("loop: %d\n", k);
       
    }
       
}
       
int main_data()
       
{
       
    int s;
       
    can_init(&s);
       
    struct can_frame frame;
       
    frame.can_id = 0x461;
       
    frame.can_dlc = 8;
       
    printf("ID=%#x data length=%d\n", frame.can_id, frame.can_dlc);
       
    /* prepare data for sending: 0x11,0x22...0x88 */
       
    for (int i=0; i<8; i++)
       
    {
       
        frame.data[i] = ((i+1)<<4) | (i+1);
       
        printf("%#x ", frame.data[i]);
       
    }
       
    printf("Sent out\n");
       
    /* Sending data */
       
    if(write(s, &frame, sizeof(frame)) < 0)
       
    {
       
        perror("Send failed");
       
        return 1;
       
    }
       
    close(s);
       
    return 0;
       
}
       
int main_init()
       
{
       
    int s;
       
    struct sockaddr_can addr;
       
    struct ifreq ifr;
       
    const char* ifrname = "can1";
       
    // open socket
       
    if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) 
       
    {
       
        perror("Error open socket...\n");
       
        return 1;
       
    }
       
    strcpy(ifr.ifr_name, ifrname); 
       
    // ioctl(*sock, SIOCGIFINDEX, &ifr);
       
    ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);  
       
    printf("%s \n", ifr.ifr_name);
       
    if (!ifr.ifr_ifindex) 
       
    {
       
        perror("if_nametoindex error...\n");
       
        return 1;
       
    }
       
    memset(&addr, 0, sizeof(addr));
       
    addr.can_family = AF_CAN;                        
       
    addr.can_ifindex = ifr.ifr_ifindex;              
       
    setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0); //disable filter. 
       
    // bind socket
       
    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) 
       
    {
       
        perror("Error in socket bind...\n");
       
        return 1;
       
    }
       
    struct can_frame frame;
       
    frame.can_id = 0x461;
       
    frame.can_dlc = 8;
       
    printf("ID=%#x data length=%d\n", frame.can_id, frame.can_dlc);
       
    /* prepare data for sending: 0x11,0x22...0x88 */
       
    for (int i=0; i<8; i++)
       
    {
       
        frame.data[i] = ((i+1)<<4) | (i+1);
       
        printf("%#x ", frame.data[i]);
       
    }
       
    printf("Sent out\n");
       
    /* Sending data */
       
    if(write(s, &frame, sizeof(frame)) < 0)
       
    {
       
        perror("Send failed");
       
        return 1;
       
    }
       
    close(s);
       
    return 0;
       
}
      
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View Code

tfl_can.h

       
       #ifndef TFL_CAN_H
       
#define TFL_CAN_H
       
#include <stdio.h>
       
#include <stdlib.h>
       
#include <string.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>
       
typedef struct{
       
    unsigned int color; // 0-unknown, 1-green, 2-yellow, 3-red, 4-off;
       
    unsigned int type; // 0-unknown, 1-round, 2-left, 3-right, 4-Uturn, 5-bicycle, 6-pedestrain;
       
    unsigned int xpos; // 0-1280, image width;
       
    unsigned int level; // 0-3, 0-lowest, 3-highest;
       
    unsigned int total; // total num of object.
       
    unsigned int rlcnt; // Rolling Count, 0<->3.
       
} TFL;
       
int can_init(int*);
       
void can_tfl(int s, TFL* data);
       
void cansend_tfl(int s, int i, char* buffer);
       
#endif
      
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CMakeLists.txt

       
       cmake_minimum_required(VERSION 3.3)
       
project(cantest LANGUAGES C)
       
set(CMAKE_BUILD_TYPE Release)
       
set(INCLUDE_DIRS include)
       
include_directories (${INCLUDE_DIRS})
       
set(LIBS_DIRS)
       
link_directories(${LIBS_DIRS})
       
set(LIBS)
       
link_libraries(${LIBS})
       
aux_source_directory(src SRC_DIRS)
       
add_executable(${PROJECT_NAME} ${SRC_DIRS})
       
target_link_libraries(${PROJECT_NAME} ${LIBS})
       
# install(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_BINDIR})
       
# add_custom_target(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_SOURCE_DIR}/cmake/make_uninstall.cmake")
      
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