From 3e4d2f9020cbd79e821ab1b9965e6b4517c0f7c9 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sun, 28 Apr 2024 18:58:52 +0800
Subject: [PATCH] update

---
 README.md                                    |  2 ++
 iflytop_canbus_protocol                      |  2 +-
 usrc/protocol_impl/protocol_impl_service.cpp | 18 ++++++++++++++++++
 3 files changed, 21 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 73a28b8..cb025b5 100644
--- a/README.md
+++ b/README.md
@@ -4,4 +4,6 @@
 
 ```
 
+    V2:
+        完成需求
 ```
\ No newline at end of file
diff --git a/iflytop_canbus_protocol b/iflytop_canbus_protocol
index 0d30ade..147a3d0 160000
--- a/iflytop_canbus_protocol
+++ b/iflytop_canbus_protocol
@@ -1 +1 @@
-Subproject commit 0d30adef26695d979d4f62a051d896aab1354734
+Subproject commit 147a3d04808e51599910a6e47f082ae91a8bc8f0
diff --git a/usrc/protocol_impl/protocol_impl_service.cpp b/usrc/protocol_impl/protocol_impl_service.cpp
index f804d58..ed07797 100644
--- a/usrc/protocol_impl/protocol_impl_service.cpp
+++ b/usrc/protocol_impl/protocol_impl_service.cpp
@@ -235,6 +235,24 @@ static void pump_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t
     int32_t regval = Hardware::ins().motor(subindex)->readInt(regadd);
     zcanbus_send_ack(packet, (uint8_t*)&regval, sizeof(regval));
   }
+
+  // ping
+  else if (packet->function_id == kcmd_pump_get_subic_reg) {
+    CHECK_PARAM_LEN(paramNum, 1);
+
+    int32_t subindex = GET_PARAM(packet->params, 0);
+
+    if (subindex >= Hardware::ins().motorNum()) {
+      zcanbus_send_errorack(packet, kerr_invalid_param);
+      return;
+    }
+
+    if (!Hardware::ins().motor(subindex)->ping()) {
+      zcanbus_send_errorack(packet, kerr_motor_subdevice_offline);
+      return;
+    }
+    zcanbus_send_ack(packet, NULL, 0);
+  }
 }
 
 static void others_func_impl(uint8_t from, uint8_t to, uint8_t* rawpacket, size_t len) {