From ab5ef4f2500fcbe21156f1ea836e0f8fae90e809 Mon Sep 17 00:00:00 2001
From: tianjialong <tianjialong@163.com>
Date: Sat, 4 Mar 2023 16:54:43 +0800
Subject: [PATCH] =?UTF-8?q?esync=E8=A7=A6=E5=8F=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 usersrc/udpclient.c | 17 ++++++++++++++++-
 usersrc/udpclient.h |  1 +
 usersrc/usermain.c  |  1 +
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/usersrc/udpclient.c b/usersrc/udpclient.c
index a131022..264753e 100644
--- a/usersrc/udpclient.c
+++ b/usersrc/udpclient.c
@@ -18,6 +18,7 @@
     }
 
 static bool udp_client_active_flag;
+static bool genlock_and_esync_active_flag;
 
 /* 定义端口号 */
 #define UDP_REMOTE_PORT 8881 /* 远端端口 */
@@ -186,7 +187,9 @@ void udp_client_parse(int recv_datalen)
 {
     if (recv_datalen >= adwin_config_protocol_size)
     {
-        // adwin_config_protocol_t *rxcmd = (adwin_config_protocol_t *)s_receBuf;
+        adwin_config_protocol_t *rxcmd = (adwin_config_protocol_t *)s_receBuf;
+        active_report_data_structer.time_stamp_s = rxcmd->time_stamp_s;
+        genlock_and_esync_active_flag = true;
     }
     else if (recv_datalen <= basic_report_data_size)
     {
@@ -258,3 +261,15 @@ void udp_cllient_active(void)
         }
     }
 }
+
+void udp_cllient_genlock_and_esync_active(void)
+{
+    if (genlock_and_esync_active_flag)
+    {
+        active_report_data_structer_update();
+        printf("encoder1:%d,encoder2:%d\r\n", active_report_data_structer.encoder_1_count, active_report_data_structer.encoder_2_count);
+        
+        active_report_data_structer.time_stamp_s = 0;
+        genlock_and_esync_active_flag = false;
+    }
+}
diff --git a/usersrc/udpclient.h b/usersrc/udpclient.h
index 1bd7bdf..9218ec8 100644
--- a/usersrc/udpclient.h
+++ b/usersrc/udpclient.h
@@ -8,3 +8,4 @@ void udp_client_send_string(char *pData);
 void udp_client_recv(void);
 void udp_client_parse(int recv_datalen);
 void udp_cllient_active(void);
+void udp_cllient_genlock_and_esync_active(void);
diff --git a/usersrc/usermain.c b/usersrc/usermain.c
index 3138c7e..780a2a8 100644
--- a/usersrc/usermain.c
+++ b/usersrc/usermain.c
@@ -94,6 +94,7 @@ void user_main()
 
   while (1)
   {
+    udp_cllient_genlock_and_esync_active();
     udp_cllient_active();
     zkey_schedule();
     udp_client_recv();