zcanhost添加重发机制,解决zcan小概率指令下发失败的BUG

src/iflytop/components/zcanreceiver/zcanhost.cpp

@@ -461,6 +461,7 @@ int32_t ZCanHost::hpp272_read_c1000(int sensorid, hpp272_data_t& value) {
   return 0;
 }
 
+
 int32_t ZCanHost::call(int32_t cmdid, int32_t* val0, int32_t nval, int32_t* ack, int32_t* acknum) {
   shared_ptr<ZCanReceiverCMD> cmd = make_shared<ZCanReceiverCMD>();
   cmd->cmdid                      = cmdid;

src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp

@@ -23,6 +23,21 @@ void ZCanReceiverHost::registerListener(onpacket_t onpacket) { m_onpacket = onpa
 void ZCanReceiverHost::registerReportMsgListener(onreport_t onpacket) { m_onReportPacket = onpacket; }
 
 shared_ptr<ZCanReceiverCMD> ZCanReceiverHost::sendcmdblock(shared_ptr<ZCanReceiverCMD> cmd, int overtime_ms) {  //
+
+  /**
+   * @brief 指令发送失败后，重试3次
+   */
+  for (int i = 0; i < 3; i++) {
+    auto rx = _sendcmdblock(cmd, overtime_ms);
+    if (rx) {
+      return rx;
+    }
+  }
+
+  return nullptr;
+}
+
+shared_ptr<ZCanReceiverCMD> ZCanReceiverHost::_sendcmdblock(shared_ptr<ZCanReceiverCMD> cmd, int overtime_ms) {  //
   lock_guard<mutex> lock(m_txblocklock);
   // 加这个延时是因为，曾经出现一个BUG，当发送一条指令成功后，立马下发第二条指令，第二条指令会发送失败，原因未知
   usleep(10 * 1000);

src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp

@@ -83,6 +83,8 @@ class ZCanReceiverHost {
   shared_ptr<ZCanReceiverCMD> sendcmdblock(shared_ptr<ZCanReceiverCMD> cmd, int overtime_ms);
 
  private:
+  shared_ptr<ZCanReceiverCMD> _sendcmdblock(shared_ptr<ZCanReceiverCMD> cmd, int overtime_ms);
+
   void processRx(shared_ptr<SocketCanFrame> frame);
   void processOnePacket(CanPacketRxBuffer *rxbuf, uint8_t *packet, size_t len);
   void resetSocketCan();