update

src/iflytop/core/driver/socketcan/socket_can.cpp

@@ -27,9 +27,22 @@ SocketCan::SocketCanError_t SocketCan::sendFrame(shared_ptr<SocketCanFrame> fram
   return writeFrame(canframe);
 }
 SocketCan::SocketCanError_t SocketCan::writeFrame(const canfd_frame_t &frame) {
-  setTxStateToTxing(frame);
-  int ret = write(m_socketCanFd, &frame, sizeof(frame));
-  if (ret != sizeof(frame)) {
+  canfd_frame_t txframe = frame;
+  txframe.can_id |= 0x10000000;
+  setTxStateToTxing(txframe);
+  /**
+   * @TODO
+   *    如果发送像下面这种ID时，底层代码会一直重发，目前原因未知，临时的解决办法是将ID的第29位设置为1
+   * ID         DATA
+   * 00000100#112233445566
+   * 00000200#112233445566
+   * 00000300#112233445566
+   * 00000400#112233445566
+   *
+   */
+
+  int ret = write(m_socketCanFd, &txframe, 16 /*固定长度*/);
+  if (ret != 16) {
     logger->error("write fail,{}", strerror(errno));
     unsetTxStateToTxing();
     return kWriteError;