From 8d31fb795a905be1ad2b35e4b6eeaef47266b59b Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 27 Jul 2024 14:33:54 +0800
Subject: [PATCH] =?UTF-8?q?canbus=E6=8E=A5=E6=94=B6=E5=99=A8=20=E5=A2=9E?=
 =?UTF-8?q?=E5=8A=A0=E5=8C=85=E5=AE=8C=E6=95=B4=E6=80=A7=E6=A3=80=E6=B5=8B?=
 =?UTF-8?q?=E5=8A=9F=E8=83=BD?=
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---
 sdk/components/zcancmder/zcanreceiver.cpp | 25 +++++++++++++++----------
 1 file changed, 15 insertions(+), 10 deletions(-)

diff --git a/sdk/components/zcancmder/zcanreceiver.cpp b/sdk/components/zcancmder/zcanreceiver.cpp
index 82bb7fe..581e398 100644
--- a/sdk/components/zcancmder/zcanreceiver.cpp
+++ b/sdk/components/zcancmder/zcanreceiver.cpp
@@ -119,7 +119,6 @@ void ZCanReceiver::registerListener(IZCanReceiverListener *listener) { m_listene
 //   return buf;
 // }
 void ZCanReceiver::sendPacket(uint8_t *packet, size_t len) {
-
   /**
    * @brief
    */
@@ -342,6 +341,7 @@ void ZCanReceiver::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandl
       rxbuf->m_canPacketNum++;
     }
     if (nframe == frameId + 1) {
+      rxbuf->m_npacket   = nframe;
       rxbuf->dataIsReady = true;
     }
   }
@@ -357,16 +357,21 @@ void ZCanReceiver::STM32_HAL_onCAN_Error(CAN_HandleTypeDef *canHandle) {
 void ZCanReceiver::loop() {
   CanPacketRxBuffer *rxbuf = &m_canPacketRxBuffer[0];
   if (rxbuf->dataIsReady) {
-    int dataoff = 0;
-    for (size_t i = 0; i < rxbuf->m_canPacketNum; i++) {
-      memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].dlc);
-      dataoff += rxbuf->m_canPacket[i].dlc;
-    }
-    rxbuf->rxdataSize = dataoff;
-    // ZLOGI(TAG,"rx packet");
-    for (auto &var : m_listenerList) {
-      if (var) var->onRceivePacket(rxbuf->get_cmdheader(), rxbuf->get_params(), rxbuf->get_params_len());
+    if (rxbuf->m_canPacketNum != rxbuf->m_npacket) {
+      ZLOGE(TAG, "lost packet");
+    } else {
+      int dataoff = 0;
+      for (size_t i = 0; i < rxbuf->m_canPacketNum; i++) {
+        memcpy(rxbuf->rxdata + dataoff, rxbuf->m_canPacket[i].aData, rxbuf->m_canPacket[i].dlc);
+        dataoff += rxbuf->m_canPacket[i].dlc;
+      }
+      rxbuf->rxdataSize = dataoff;
+      // ZLOGI(TAG,"rx packet");
+      for (auto &var : m_listenerList) {
+        if (var) var->onRceivePacket(rxbuf->get_cmdheader(), rxbuf->get_params(), rxbuf->get_params_len());
+      }
     }
+
     rxbuf->dataIsReady = false;
   }
 }