update

src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp

@@ -57,6 +57,10 @@ void ZCanReceiverHost::sendcmd(uint16_t packetindex, uint16_t cmdid, uint8_t sub
   header->subcmdid    = subcmdid;
   header->packetType  = 0x00;
   memcpy(header->data, data, len);
+  // printf("sendcmd(%d:%d:%d) ", packetindex, cmdid, subcmdid);
+  // for (size_t i = 0; i < len; i++) {
+  //   printf("%02x ", data[i]);
+  // }
   sendPacket(m_sendbuf, sizeof(Cmdheader_t) + len);
 }
 void ZCanReceiverHost::sendPacket(uint8_t *packet, size_t len) {
@@ -85,7 +89,13 @@ void ZCanReceiverHost::sendPacket(uint8_t *packet, size_t len) {
 bool ZCanReceiverHost::sendPacketSub(int npacket, int packetIndex, uint8_t *packet, size_t len, int overtimems) {
   uint32_t id = (m_deviceId << 16) | (npacket << 8) | packetIndex;
   // m_comcan.sendframe(CANUSB_FRAME_EXTENDED, id, packet, len);
-  shared_ptr<SocketCanFrame> frame = SocketCanFrame::createExtDataFrame(id, packet, len);
+  // printf("sendPacketSub(%d:%d) ", npacket, packetIndex);
+  // for (size_t i = 0; i < len; i++) {
+  //   printf("%02x ", packet[i]);
+  // }
+  // printf("\n");
+
+  shared_ptr<SocketCanFrame> frame = SocketCanFrame::createExtDataFrame(id, packet, 8); /*TODO，这里如果不写8,会报错，原因未知*/
   m_socketCan->sendFrame(frame, overtimems);
   return true;
 }
@@ -158,6 +168,7 @@ void ZCanReceiverHost::resetSocketCan() {
   m_socketCan->initialize(socketCanConfig);
   m_socketCan->startListen();
   m_socketCan->onSocketCanFrame.connect([this](shared_ptr<SocketCanFrame> canframe) {  //
-    // processRx(canframe);
+    logger->debug("onSocketCanFrame {}", canframe->toString());
+    processRx(canframe);
   });
 }