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base: cxh:b2ec530a4bdd6478c9a33922055b8cac55b302c3
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compare: cxh:268e4e125f6283b087205b617ee7f080181b4d94
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No commits in common. "b2ec530a4bdd6478c9a33922055b8cac55b302c3" and "268e4e125f6283b087205b617ee7f080181b4d94" have entirely different histories.
b2ec530a4b ... 268e4e125f

1 changed files with 7 additions and 7 deletions
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14
src/radio_ctrl/src/uart_handler.cpp
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@ -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