From db9f0d75ca53a7fbd808ef97af8ae0452341de72 Mon Sep 17 00:00:00 2001
From: cxh <zxwl@56.com>
Date: Thu, 12 Jun 2025 16:05:24 +0800
Subject: [PATCH] Auto commit at 2025-06-12 16:05:24

---
 src/mc/include/mc/can_driver.h | 12 --------
 src/mc/src/can_driver.cpp      | 52 +++++++---------------------------
 2 files changed, 10 insertions(+), 54 deletions(-)

diff --git a/src/mc/include/mc/can_driver.h b/src/mc/include/mc/can_driver.h
index db7af0e..1a9f1a0 100644
--- a/src/mc/include/mc/can_driver.h
+++ b/src/mc/include/mc/can_driver.h
@@ -42,25 +42,13 @@ public:
     // 设置接收回调
     void setReceiveCallback(ReceiveCallback callback, void *userData = nullptr);
 
-    // 设置硬件过滤规则
-    bool setFilter(const std::vector<can_filter> &filters);
-
-    // 追加一个过滤器
-    bool addFilter(const can_filter &filter);
-
-    // 追加一组过滤器
-    bool addFilters(const std::vector<can_filter> &filters);
-
 private:
     void receiveThreadFunc();
-    bool applyFilters(); // 应用当前filters_
-
     int sockfd = -1;
     std::atomic<bool> running{false};
     std::thread receiveThread;
     ReceiveCallback callback;
     void *userData = nullptr;
-    std::vector<can_filter> filters_; // 当前所有过滤器
 };
 
 #endif // CAN_DRIVER_H
diff --git a/src/mc/src/can_driver.cpp b/src/mc/src/can_driver.cpp
index 219ed83..67540ef 100644
--- a/src/mc/src/can_driver.cpp
+++ b/src/mc/src/can_driver.cpp
@@ -60,6 +60,13 @@ bool CANDriver::open(const std::string &interface)
         return false;
     }
 
+    if (VCI_ClearBuffer(deviceType, deviceIndex, channelIndex) != 1)
+    {
+        std::cerr << "VCI_ClearBuffer failed" << std::endl;
+        VCI_CloseDevice(deviceType, deviceIndex);
+        return false;
+    }
+
     running = true;
     receiveThread = std::thread(&CANDriver::receiveThreadFunc, this);
     return true;
@@ -74,6 +81,9 @@ void CANDriver::close()
     if (receiveThread.joinable())
         receiveThread.join();
 
+    // 先清空缓冲区，防止缓冲区残留数据导致重复接收
+    VCI_ClearBuffer(deviceType, deviceIndex, channelIndex);
+
     VCI_ResetCAN(deviceType, deviceIndex, channelIndex);
     VCI_CloseDevice(deviceType, deviceIndex);
 }
@@ -106,48 +116,6 @@ void CANDriver::setReceiveCallback(ReceiveCallback callback, void *userData)
     this->userData = userData;
 }
 
-bool CANDriver::setFilter(const std::vector<can_filter> &filters)
-{
-    if (!running)
-        return false;
-
-    filters_ = filters;
-    return applyFilters();
-}
-
-bool CANDriver::addFilter(const can_filter &filter)
-{
-    filters_.push_back(filter);
-    return applyFilters();
-}
-
-bool CANDriver::addFilters(const std::vector<can_filter> &filters)
-{
-    filters_.insert(filters_.end(), filters.begin(), filters.end());
-    return applyFilters();
-}
-
-bool CANDriver::applyFilters()
-{
-    if (!running)
-        return false;
-
-    if (filters_.empty())
-    {
-        setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_FILTER, nullptr, 0);
-        return true;
-    }
-
-    if (setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_FILTER,
-                   filters_.data(), filters_.size() * sizeof(can_filter)) < 0)
-    {
-        perror("setsockopt");
-        return false;
-    }
-
-    return true;
-}
-
 void CANDriver::receiveThreadFunc()
 {
     while (running)