From a2715e8c3078ed9ba6ab10f1f270e6e7cd1f2a5c Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 24 Oct 2023 18:34:07 +0800
Subject: [PATCH] update

---
 .../mini_servo_motor_ctrl_module.cpp               | 28 +++++++++++++++++-----
 1 file changed, 22 insertions(+), 6 deletions(-)

diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
index ec33fe4..a68296e 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
@@ -113,12 +113,17 @@ int32_t MiniRobotCtrlModule::move_forward(s32 torque) {
   m_thread.stop();
   if (!m_bus->moveTo(m_id, 4095, 0, torque)) return err::ksubdevice_overtime;
   m_thread.start([this, torque]() {
+    uint8_t moveflag = 0;
     while (true) {
       if (m_thread.getExitFlag()) break;
       m_thread.sleep(10);
+
+      m_bus->getMoveFlag(m_id, moveflag);
+      if (moveflag == 0) {
+        // ²»Í£Ö¹¶æ»ú
+        break;
+      }
     }
-    stop(0);
-    ZLOGI(TAG, "%d move_forward stop", m_module_id);
   });
 
   return 0;
@@ -132,12 +137,17 @@ int32_t MiniRobotCtrlModule::move_backward(s32 torque) {
   m_thread.stop();
   if (!m_bus->moveTo(m_id, 0, 0, torque)) return err::ksubdevice_overtime;
   m_thread.start([this, torque]() {
+    uint8_t moveflag = 0;
     while (true) {
       if (m_thread.getExitFlag()) break;
       m_thread.sleep(10);
+
+      m_bus->getMoveFlag(m_id, moveflag);
+      if (moveflag == 0) {
+        // ²»Í£Ö¹¶æ»ú
+        break;
+      }
     }
-    stop(0);
-    ZLOGI(TAG, "%d move_forward stop", m_module_id);
   });
 
   return 0;
@@ -274,8 +284,14 @@ int32_t MiniRobotCtrlModule::getid(int32_t *id) {
   *id = m_module_id;
   return 0;
 }
-int32_t MiniRobotCtrlModule::module_stop() { return stop(0); }
-int32_t MiniRobotCtrlModule::module_break() { return stop(0); }
+int32_t MiniRobotCtrlModule::module_stop() {
+  m_thread.stop();
+  return stop(0);
+}
+int32_t MiniRobotCtrlModule::module_break() {
+  m_thread.stop();
+  return stop(0);
+}
 int32_t MiniRobotCtrlModule::module_get_last_exec_status(int32_t *status) {
   *status = m_last_exec_status;
   return 0;