From 86d2d7d514d08be89e9b04d301ef45318d8b3789 Mon Sep 17 00:00:00 2001
From: lyq <zxwl@44.com>
Date: Sat, 28 Feb 2026 17:19:29 +0800
Subject: [PATCH] 0228_2

---
 src/control/can_radio_ctrl/include/can_radio_ctrl/candev.h | 5 +++--
 src/control/can_radio_ctrl/src/can_radio_ctrl.cpp          | 6 +++---
 src/control/can_radio_ctrl/src/candev.cpp                  | 3 ++-
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/control/can_radio_ctrl/include/can_radio_ctrl/candev.h b/src/control/can_radio_ctrl/include/can_radio_ctrl/candev.h
index 0660050..be4b588 100644
--- a/src/control/can_radio_ctrl/include/can_radio_ctrl/candev.h
+++ b/src/control/can_radio_ctrl/include/can_radio_ctrl/candev.h
@@ -24,6 +24,7 @@ struct RadioData
     int16_t throttle;  // 油门数据
     uint8_t gear;      // 挡位数据
     uint8_t sweep;     // 清扫开关数据
+    uint8_t enabled;   // 使能
     bool data_valid;   // 数据有效性标志
 };
 
@@ -34,7 +35,7 @@ extern std::mutex radio_data_mutex;  // 保护radio_data的互斥锁
 // 函数声明
 int can_Init(void);
 void can_Recv_CAN1(void);
-RadioData get_radio_data(void);  // 
-void can_Stop_Recv(void);        // 
+RadioData get_radio_data(void);  //
+void can_Stop_Recv(void);        //
 
 #endif  // !_CANDEV_H
\ No newline at end of file
diff --git a/src/control/can_radio_ctrl/src/can_radio_ctrl.cpp b/src/control/can_radio_ctrl/src/can_radio_ctrl.cpp
index 7200645..8a826dc 100644
--- a/src/control/can_radio_ctrl/src/can_radio_ctrl.cpp
+++ b/src/control/can_radio_ctrl/src/can_radio_ctrl.cpp
@@ -68,11 +68,11 @@ class CanRadioCtrlNode : public rclcpp::Node
 
         // 检查数据有效性
         bool has_received = radio_data.data_valid;
-        bool data_safe = radio_data.data_valid;
+        bool enabled = (radio_data.enabled == 0);
 
         auto msg = sweeperMsg::McCtrl();
 
-        if (has_received && data_safe)
+        if (has_received && enabled)
         {
             // 解析挡位
             switch (radio_data.gear)  // 通道E
@@ -172,7 +172,7 @@ class CanRadioCtrlNode : public rclcpp::Node
                 }
                 else
                 {
-                    LOG_WARN("CAN radio control data lost or failsafe!");
+                    LOG_WARN("CAN radio control unabled!");
                 }
                 print_counter = 0;
             }
diff --git a/src/control/can_radio_ctrl/src/candev.cpp b/src/control/can_radio_ctrl/src/candev.cpp
index ccaf132..f6cceca 100644
--- a/src/control/can_radio_ctrl/src/candev.cpp
+++ b/src/control/can_radio_ctrl/src/candev.cpp
@@ -8,7 +8,7 @@
 #include <thread>  // 异步接收线程
 
 // 全局变量定义
-RadioData radio_data = {0, 0, 0, 0, false};
+RadioData radio_data = {0, 0, 0, 0, true, false};
 std::mutex radio_data_mutex;  // 保护radio_data的互斥锁
 
 // CAN 文件描述符
@@ -125,6 +125,7 @@ void can_recv_loop()
                 uint8_t ch7 = frame.data[6];
                 uint8_t ch8 = frame.data[7];
                 radio_data.gear = ch1;
+                radio_data.enabled = ch3;
                 radio_data.sweep = ch4;
                 // printf("ch1 : %d ,ch2 : %d ,ch3 : %d ,ch4 : %d\n", ch1, ch2, ch3, ch4);
                 // printf("ch5 : %d ,ch6 : %d ,ch7 : %d ,ch8 : %d\n", ch5, ch6, ch7, ch8);