修复多从机时指令接收超时的BUG

components/zcancmder/basic.hpp

@@ -31,10 +31,12 @@ class CanPacketRxBuffer {
   uint8_t   rxdata[1000]     = {0};
   int       rxdataSize       = 0;
 
-  bool dataIsReady = false;
-  bool isOnReceive = false;
-  bool isUsed      = false;
-  bool lostpacket  = false;
+  bool    dataIsReady     = false;
+  bool    isOnReceive     = false;
+  bool    isUsed          = false;
+  bool    lostpacket      = false;
+  bool    dataIsProcessed = false;
+  int32_t lastrxtime      = 0;
 
  public:
   uint16_t get_packetindex();

components/zcancmder/zcanreceiver_master.cpp

@@ -122,7 +122,7 @@ int32_t ZCanCommnaderMaster::sendCmdAndReceiveBuf(int32_t cmdid, int32_t subModu
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)txbuff;
   cmdheader->packetType       = kptv2_cmd;
   cmdheader->packetindex      = generateFreeIndex();
-  cmdheader->cmdMainId      = MODULE_CMDID(cmdid);
+  cmdheader->cmdMainId        = MODULE_CMDID(cmdid);
   cmdheader->cmdSubId         = CMD_SUB_ID(cmdid);
   cmdheader->subModuleid      = subModuleid;
   // ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdMainId, cmdheader->cmdSubId, cmdheader->subModuleid);
@@ -170,7 +170,7 @@ int32_t ZCanCommnaderMaster::sendCmd(int32_t cmdid, int32_t subModuleid, int32_t
   zcr_cmd_header_t *cmdheader = (zcr_cmd_header_t *)txbuff;
   cmdheader->packetType       = kptv2_cmd;
   cmdheader->packetindex      = generateFreeIndex();
-  cmdheader->cmdMainId      = MODULE_CMDID(cmdid);
+  cmdheader->cmdMainId        = MODULE_CMDID(cmdid);
   cmdheader->cmdSubId         = CMD_SUB_ID(cmdid);
   cmdheader->subModuleid      = subModuleid;
   // ZLOGI(TAG, "sendCmd %d %d %d %d", cmdheader->packetindex, cmdheader->cmdMainId, cmdheader->cmdSubId, cmdheader->subModuleid);
@@ -381,12 +381,18 @@ void ZCanCommnaderMaster::initCanPacketRxBuffer(CanPacketRxBuffer *buf, uint16_t
 
 CanPacketRxBuffer *ZCanCommnaderMaster::allocCanPacketRxBufferInIRQ(uint16_t id) {
   for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) {
-    if (m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].id == id) {
-      // 说明当前id的缓存已经存在，但由于丢包数据灭有收集满
-      if (!m_canPacketRxBuffer[i].dataIsReady) {
-        initCanPacketRxBuffer(&m_canPacketRxBuffer[i], id);
-        m_canPacketRxBuffer[i].isUsed = true;
-        return &m_canPacketRxBuffer[i];
+    CanPacketRxBuffer *packetbuf = &m_canPacketRxBuffer[i];
+    if (packetbuf->dataIsReady) {
+      // 等待等待处理完成后释放
+      if (packetbuf->dataIsProcessed) packetbuf->isUsed = false;
+    } else {
+      // 数据已经开始接收，但超时未处理，回收buffer
+      if (packetbuf->isUsed && zos_haspassedms(packetbuf->lastrxtime) > 100) {
+        packetbuf->isUsed = false;
+      }
+      // 数据开始接收了，但又收到了0号包，回收buffer
+      if (packetbuf->isUsed && id == packetbuf->id) {
+        packetbuf->isUsed = false;
       }
     }
   }
@@ -408,14 +414,6 @@ CanPacketRxBuffer *ZCanCommnaderMaster::findCanPacketRxBufferInIRQ(uint16_t id)
   }
   return nullptr;
 }
-void ZCanCommnaderMaster::freeCanPacketRxBuffer(uint16_t id) {
-  for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) {
-    if (m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].id == id) {
-      m_canPacketRxBuffer[i].isUsed = false;
-      return;
-    }
-  }
-}
 
 void ZCanCommnaderMaster::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *canHandle) {
   /**
@@ -448,7 +446,12 @@ void ZCanCommnaderMaster::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *c
     } else {
       rxbuf = findCanPacketRxBufferInIRQ(from);
     }
-    if (!rxbuf) return;
+    if (!rxbuf) {
+      ZLOGE(TAG, "board[%d] packetId[%d] find rx buff fail", from, frameId);
+      return;
+    }
+
+    rxbuf->lastrxtime = zos_get_tick();
 
     if (rxbuf->m_canPacketNum < ZARRAY_SIZE(rxbuf->m_canPacket)) {
       rxbuf->m_canPacket[rxbuf->m_canPacketNum].pHeader = pHeader;
@@ -459,7 +462,8 @@ void ZCanCommnaderMaster::STM32_HAL_onCAN_RxFifo0MsgPending(CAN_HandleTypeDef *c
      * @brief 接收满了
      */
     if (nframe == frameId + 1) {
-      rxbuf->dataIsReady = true;
+      rxbuf->dataIsReady     = true;
+      rxbuf->dataIsProcessed = false;
       if ((rxbuf->m_canPacketNum) != rxbuf->m_npacket) rxbuf->lostpacket = true;
     }
   }
@@ -484,16 +488,15 @@ void ZCanCommnaderMaster::processReadyPacket(CanPacketRxBuffer *rxbuf) {
   } else {
     callListener(rxbuf);
   }
-  rxbuf->dataIsReady = false;
 }
 void ZCanCommnaderMaster::loop() {
   /**
    * @brief MainLoop上下文
    */
-
   for (size_t i = 0; i < CAN_PACKET_RX_BUFFER_NUM; i++) {
-    if (m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].dataIsReady) {
+    if (m_canPacketRxBuffer[i].isUsed && m_canPacketRxBuffer[i].dataIsReady && !m_canPacketRxBuffer[i].dataIsProcessed) {
       processReadyPacket(&m_canPacketRxBuffer[i]);
+      m_canPacketRxBuffer[i].dataIsProcessed = true;
     }
   }
 }

components/zcancmder/zcanreceiver_master.hpp

@@ -97,7 +97,6 @@ class ZCanCommnaderMaster : public ZCanIRQListener, public IZcanCmderMaster {
   void               initCanPacketRxBuffer(CanPacketRxBuffer *buf, uint16_t id);
   CanPacketRxBuffer *allocCanPacketRxBufferInIRQ(uint16_t id);
   CanPacketRxBuffer *findCanPacketRxBufferInIRQ(uint16_t id);
-  void               freeCanPacketRxBuffer(uint16_t id);
   void               processReadyPacket(CanPacketRxBuffer *buf);
 };
 

components/zprotocol_helper/micro_computer_module_device_script_cmder_paser.cpp

@@ -460,8 +460,14 @@ void MicroComputerModuleDeviceScriptCmderPaser::do_wait_for_module(int32_t modul
      * @brief
      */
     i++;
-    if (i % 10 == 0) ZLOGI(TAG, "wait for module %d %d", moduleid, status);
-    thisThread.sleep(30);
+    if (i % 10 == 0) {
+      if (ack->ecode == 0) {
+        ZLOGI(TAG, "wait for module %d %d", moduleid, status);
+      } else {
+        ZLOGI(TAG, "wait for module %d err: %s(%d)", moduleid, err::error2str(ack->ecode), ack->ecode);
+      }
+    }
+    thisThread.sleep(100);
   }
 }