From 1542db409a97bab41ddb54f9cc86954b45a56787 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 17 Aug 2024 14:55:40 +0800
Subject: [PATCH] fix some can bug

---
 src/iflytop/components/zcanreceiver/socket_can/socket_can.cpp | 11 +++++++----
 src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp      |  2 +-
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/src/iflytop/components/zcanreceiver/socket_can/socket_can.cpp b/src/iflytop/components/zcanreceiver/socket_can/socket_can.cpp
index 33886c5..213b18b 100644
--- a/src/iflytop/components/zcanreceiver/socket_can/socket_can.cpp
+++ b/src/iflytop/components/zcanreceiver/socket_can/socket_can.cpp
@@ -30,14 +30,17 @@ SocketCan::SocketCanError_t SocketCan::sendFrame(shared_ptr<SocketCanFrame> fram
   canfd_frame_t canframe = frame->getCanFrame();
   return writeFrame(canframe);
 }
-SocketCan::SocketCanError_t SocketCan::writeFrame(const canfd_frame_t &frame) {
+SocketCan::SocketCanError_t SocketCan::writeFrame(const canfd_frame_t &_frame) {
   if (!m_canBusIsReady) {
     return kDeviceBusy;
   }
 
-  setTxStateToTxing(frame);
-  int ret = write(m_socketCanFd, &frame, frame.len + 8);
-  if (ret != (frame.len + 8)) {
+  canfd_frame_t txframe = _frame;
+  txframe.can_id |= 0x10000000;
+  setTxStateToTxing(txframe);
+
+  int ret = write(m_socketCanFd, &txframe, 16);
+  if (ret != (16)) {
     logger->error("write fail,{}", strerror(errno));
     unsetTxStateToTxing();
     return kWriteError;
diff --git a/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp b/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
index f48058c..13ca3d0 100644
--- a/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
+++ b/src/iflytop/components/zcanreceiver/zcanreceiverhost.cpp
@@ -7,7 +7,7 @@ using namespace iflytop;
 
 #define TAG "ZCanReceiver"
 
-#define OVER_TIME_MS 5
+#define OVER_TIME_MS 20
 
 using namespace iflytop;
 ZCanReceiverHost::ZCanReceiverHost() {}