From 7688e9f3f5e5881d39c6da25e4efee246dae939d Mon Sep 17 00:00:00 2001
From: cxh <zxwl@56.com>
Date: Fri, 23 May 2025 17:43:56 +0800
Subject: [PATCH] Auto commit on 2025-05-23 17:43:56

---
 git_update.sh                       | 25 +++++++++++++++++++++++++
 src/radio_ctrl/src/uart_handler.cpp | 14 +++++++-------
 2 files changed, 32 insertions(+), 7 deletions(-)
 create mode 100755 git_update.sh

diff --git a/git_update.sh b/git_update.sh
new file mode 100755
index 0000000..6566bc5
--- /dev/null
+++ b/git_update.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+REPO_DIR="/home/cxh/sweeper_truck_ros"
+
+cd "$REPO_DIR" || { echo "目录不存在: $REPO_DIR"; exit 1; }
+
+# 配置用户名和邮箱（如果没配置）
+git config user.name "cxh"
+git config user.email "zxwl@56.com"
+
+# 添加所有改动
+git add .
+
+# 自动提交，提交信息用当前时间
+COMMIT_MSG="Auto commit on $(date '+%Y-%m-%d %H:%M:%S')"
+git commit -m "$COMMIT_MSG"
+
+# 推送到远程 main 分支
+git push origin main
+
+if [ $? -eq 0 ]; then
+  echo "推送成功！"
+else
+  echo "推送失败！"
+fi
diff --git a/src/radio_ctrl/src/uart_handler.cpp b/src/radio_ctrl/src/uart_handler.cpp
index 087d468..3ac15c7 100644
--- a/src/radio_ctrl/src/uart_handler.cpp
+++ b/src/radio_ctrl/src/uart_handler.cpp
@@ -108,24 +108,24 @@ void UartHandler::stop_reading()
 void UartHandler::read_loop()
 {
     uint8_t buf[512];
-    auto last_receive_time = std::chrono::steady_clock::now();
+    // auto last_receive_time = std::chrono::steady_clock::now();
 
     while (reading)
     {
         int n = read(fd, buf, sizeof(buf));
         if (n > 0)
         {
-            last_receive_time = std::chrono::steady_clock::now();
+            // last_receive_time = std::chrono::steady_clock::now();
             parse_data(buf, n);
         }
         else if (n == 0 || (n < 0 && errno == EAGAIN))
         {
             // 检查超时
-            auto now = std::chrono::steady_clock::now();
-            if (std::chrono::duration_cast<std::chrono::seconds>(now - last_receive_time).count() > 2) // 超过2秒没数据
-            {
-                failsafe_status = SBUS_SIGNAL_LOST;
-            }
+            // auto now = std::chrono::steady_clock::now();
+            // if (std::chrono::duration_cast<std::chrono::seconds>(now - last_receive_time).count() > 2) // 超过2秒没数据
+            // {
+            //     failsafe_status = SBUS_SIGNAL_LOST;
+            // }
             usleep(1000);
         }
         else