From 3cd88d85f20ebc1f0cb337ab10d9023ad7531df3 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 22 May 2024 17:18:05 +0800
Subject: [PATCH] =?UTF-8?q?zcanhost=E6=B7=BB=E5=8A=A0=E9=87=8D=E5=8F=91?=
 =?UTF-8?q?=E6=9C=BA=E5=88=B6,=E8=A7=A3=E5=86=B3zcan=E5=B0=8F=E6=A6=82?=
 =?UTF-8?q?=E7=8E=87=E6=8C=87=E4=BB=A4=E4=B8=8B=E5=8F=91=E5=A4=B1=E8=B4=A5?=
 =?UTF-8?q?=E7=9A=84BUG?=
MIME-Version: 1.0
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---
 src/iflytop/components/zcanreceiver/zcanhost.cpp         |  1 +
 src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp | 15 +++++++++++++++
 src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp |  2 ++
 3 files changed, 18 insertions(+)

diff --git a/src/iflytop/components/zcanreceiver/zcanhost.cpp b/src/iflytop/components/zcanreceiver/zcanhost.cpp
index c09d952..4c05ea8 100644
--- a/src/iflytop/components/zcanreceiver/zcanhost.cpp
+++ b/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;
diff --git a/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp b/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
index 359fec0..8cbfc3d 100644
--- a/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
+++ b/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);
diff --git a/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp b/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp
index 706b463..c619b16 100644
--- a/src/iflytop/components/zcanreceiver/zcanreceiverhost.hpp
+++ b/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();