Auto commit at 2025-07-22 08:39:28

src/mc/src/can_driver.cpp

@@ -3,8 +3,9 @@
 #include <stdexcept>
 #include <iostream>
 #include <thread>
-#include <fcntl.h>  // 用于 fcntl
+#include <fcntl.h>
-#include <unistd.h> // 用于 close 和 read
+#include <unistd.h>
+#include <poll.h>
 
 CANDriver::CANDriver() = default;
 
@@ -178,22 +179,27 @@ bool CANDriver::applyFilters()
 
 void CANDriver::receiveThreadFunc()
 {
-#ifdef _WIN32
-    // Windows接收实现
-#else
     struct can_frame raw_frame;
+    struct pollfd fds;
+    fds.fd = sockfd;
+    fds.events = POLLIN;
+
     while (running)
     {
-        // 在非阻塞模式下读取数据
+        int ret = poll(&fds, 1, 100); // 等待最多100ms
+
+        if (ret < 0)
+        {
+            perror("poll");
+            continue;
+        }
+        else if (ret == 0)
+        {
+            // 超时无数据，可继续
+            continue;
+        }
+
         ssize_t nbytes = read(sockfd, &raw_frame, sizeof(raw_frame));
-        if (nbytes < 0)
-        {
-            if (errno != EAGAIN) // 非阻塞错误，忽略
-            {
-                perror("read");
-            }
-            continue; // 没有数据时继续循环
-        }
 
         if (nbytes == sizeof(raw_frame) && callback)
         {
@@ -208,5 +214,4 @@ void CANDriver::receiveThreadFunc()
             callback(frame, userData);
         }
     }
-#endif
 }