mc debug

src/base/mc/src/can_driver.cpp

@@ -50,6 +50,10 @@ bool CANDriver::open(const std::string& interface)
         return false;
     }
 
+    // 增大接收缓冲区，防止高流量时丢帧
+    int buf_size = 1024 * 1024;  // 1MB
+    setsockopt(sockfd, SOL_SOCKET, SO_RCVBUF, &buf_size, sizeof(buf_size));
+
     // 设置为非阻塞
     int flags = fcntl(sockfd, F_GETFL, 0);
     fcntl(sockfd, F_SETFL, flags | O_NONBLOCK);
@@ -159,8 +163,17 @@ void CANDriver::receiveThreadFunc()
             continue;
         }
 
+        // 读取所有缓冲的帧，避免帧堆积丢失
+        while (running)
+        {
             ssize_t nbytes = read(sockfd, &raw_frame, sizeof(raw_frame));
-        if (nbytes == sizeof(raw_frame) && callback)
+            if (nbytes != sizeof(raw_frame))
+            {
+                // 没有更多数据或出错，退出内层循环
+                break;
+            }
+
+            if (callback)
             {
                 CANFrame frame;
                 frame.id = raw_frame.can_id & CAN_EFF_MASK;
@@ -173,4 +186,5 @@ void CANDriver::receiveThreadFunc()
                 callback(frame, userData);
             }
         }
+    }
 }