2.12

+/*********************************
+ * 
+ *  极至接收数据处理
+ *  数据类型1
+ *      用于串口协议，大疆多通道接收协议
+ * 
+ * ****************************************/
+
+#include <stdio.h>
+#include "JZsdkLib.h"
+#include "BaseConfig.h"
+
+/***************
+ * 
+ * 
+ *   极至串口协议的数据初步筛选
+ *   用于清空无效数据
+ *   以及将有效数据提取出来，放置到后续处理函数中
+ *   输入要 处理的原始数据data 以及 数据长度DataLen 还有输入的接口 
+ *   返回值：未处理的长度数据
+ * 
+ *   返回后在
+ * ********************/
+int HalRecv_tpye1_PreliminaryScreeningOfData(unsigned char *Data, unsigned int DataLen, int Port)
+{
+    int ResidualLength = 0; //  剩余数据长度
+
+    switch (Port)
+    {
+        case UART_DEV_1:
+            //JZSDK_LOG_INFO("串口-设备1号,接受到数据+未处理数据的长度len: %d", DataLen);
+        break;
+
+        case UART_DEV_2:
+            //JZSDK_LOG_INFO("串口-设备2号,接受到数据+未处理数据的长度len: %d", DataLen);
+        break;
+
+        case UART_4G:
+            //JZSDK_LOG_INFO("串口-4G模块,接受到数据+未处理数据的长度len: %d", DataLen);
+        break;
+
+        case HAL_DATA_TRANSMISSION:
+            //JZSDK_LOG_INFO("hal-数据传输,接受到数据+未处理数据的长度len: %d", DataLen);
+        break;
+    
+        /********** 未报备的接口 ************/
+        default:
+            ResidualLength = 0;
+            return ResidualLength;
+        break;
+    }
+
+    //确保有数据传输进来
+    if (DataLen <= 0)
+    {
+        ResidualLength = 0;
+        return ResidualLength;
+    }
+
+    int HaveReadLen = 0; // 已读长度
+	int HaveDealLen = 0; // 已处理长度
+	int FrameFlag = 0x00;	 // 帧标志
+	int FrameLen = 0;
+
+    //将数据提取出来
+    for (HaveReadLen = 0; HaveReadLen <= (DataLen - 3); )
+    {
+        //查找是否存在 帧头
+        switch (Data[HaveReadLen])
+        {
+            case 0x5A:
+            {
+                if (Data[HaveReadLen + 1] == 0x5A && Data[HaveReadLen + 2] == 0x77) 
+                {
+                    FrameFlag = 0x5A;
+                }
+                else
+                {
+                    FrameFlag = 0x00;    
+                }
+                break;
+            }
+
+            case 0x5B:
+            {
+                if (Data[HaveReadLen + 1] == 0x5B && Data[HaveReadLen + 2] == 0x77) 
+                {
+                    FrameFlag = 0x5B;
+                }
+                else
+                {
+                    FrameFlag = 0x00;    
+                }
+                break;
+            }
+
+            case 0x6A:
+            {
+                if (Data[HaveReadLen + 1] == 0x6A && Data[HaveReadLen + 2] == 0x77) 
+                {
+                    FrameFlag = 0x6A;
+                }
+                else
+                {
+                    FrameFlag = 0x00;    
+                }
+                break;
+            }
+
+            case 0x6B:
+            {
+                if (Data[HaveReadLen + 1] == 0x6B && Data[HaveReadLen + 2] == 0x77) 
+                {
+                    FrameFlag = 0x6B;
+                }
+                else
+                {
+                    FrameFlag = 0x00;
+                }
+            }
+        
+            default:
+                FrameFlag = 0x00;
+            break;
+        }
+
+        if (FrameFlag == 0x00)
+        {
+            if (HaveReadLen >= (DataLen - 5))
+			{
+				//JZSDK_LOG_INFO("没有找到帧头");
+			}	
+			HaveReadLen++;
+			continue;
+        }
+
+        //如果有帧头，则先判断前面有没有多余的数据残留，并将其移除
+        if (HaveReadLen > HaveDealLen)
+        {
+            //JZSDK_LOG_INFO("残余处理%d",(HaveReadLen - HaveDealLen));
+            HaveDealLen = HaveReadLen;
+        }
+        
+        //检查帧长度是否超出数据剩余的内容
+        FrameLen = (((int)Data[HaveReadLen+3]) << 8) + (int)Data[HaveReadLen+4];
+        if (FrameLen > (DataLen - HaveReadLen))
+        {
+            //JZSDK_LOG_DEBUG("当前帧长度位长度%d 超出剩余帧长度%d ",FrameLen,(getbufLen - HaveReadLen));
+			// 直接跳出for循环
+			break;
+        }
+        
+		//检查帧长度是否为0，避免卡死接收串口
+		if (FrameLen == 0)
+		{
+			JZSDK_LOG_ERROR("严重错误，接收到的帧出现长度为空");
+			//直接清空接收的数组
+			return 0;
+		}
+
+        //以上检查都没问题，则正常输出帧
+		//JZSDK_LOG_INFO("正常输出帧%d",FrameLen);
+
+		//UartDeal_Recv_Ouput(type, Uart_fd, &getbuf[HaveReadLen], FrameLen);
+		HaveReadLen = HaveReadLen + FrameLen;	
+		HaveDealLen = HaveReadLen;
+
+		JZSDK_LOG_INFO("Prot:%x f_len%d h_r%d [h_r]:%x get%d",Port,FrameLen ,HaveReadLen, getbuf[HaveReadLen-1], DataLen);
+
+		FrameLen = 0;
+		FrameFlag = 0;
+    }
+    
+	// 如果没有数据残留了
+	if (HaveDealLen >= DataLen) 
+	{
+		//printf("HaveReadLen:%d HaveDealLen%d getbufLen:%d\n",HaveReadLen,HaveDealLen,getbufLen);
+        ResidualLength = 0;
+        return ResidualLength;
+	}
+
+    else
+    {
+        
+    }
+
+    return ResidualLength;
+}
+
+
+static T_JZsdkReturnCode 
\ No newline at end of file

@@ -17,15 +17,19 @@
 struct UartDev_UseFlag
 {
     int UartDev_DEV1 ;
-    int UartDev_DEV2 ;   
+    int UartDev_DEV2 ;  
+    int UartDev_DEV3 ;
+    int UartDev_DEV4 ;
     int UartDev_4G   ;
 };
-static struct UartDev_UseFlag UartDevUseFlag = {JZ_FLAGCODE_OFF, JZ_FLAGCODE_OFF, JZ_FLAGCODE_OFF};
+
+static struct UartDev_UseFlag UartDevUseFlag = {JZ_FLAGCODE_OFF, JZ_FLAGCODE_OFF, JZ_FLAGCODE_OFF, JZ_FLAGCODE_OFF,JZ_FLAGCODE_OFF};
 
 
 /****************
  * 
  *  回复串口是否有被调用
+ *  用于状态同步时，是否需要通知该设备 
  * 
  * *************/
 int JZsdk_Get_UartDev_UseFlag(int UART_DEV_NAME)
@@ -47,6 +51,7 @@ int JZsdk_Get_UartDev_UseFlag(int UART_DEV_NAME)
 /**************
  * 
  *  串口部分初始化
+ *  按默认参数对串口进行初始化
  * 
  * *********/
 int JZsdk_Uart_Init(int UART_DEV_NAME)
@@ -112,7 +117,8 @@ int JZsdk_Uart_BitRateChange(int UART_DEV_NAME, int BitRate)
 
 /**************
  * 
- *  串口部分串口再注册
+ *  串口部分
+ *  串口再注册函数
  * 
  * *********/
 int JZsdk_Uart_SecondInit(int UART_DEV_NAME, int BitRate)

@@ -24,7 +24,7 @@ typedef struct
 {
 	int UartFd;			   // 串口识别符
 	int UartDevName;    //串口名
-	char Message[1024];	   // 传递的字符串
+	unsigned char Message[2048];	   // 传递的字符串
 	int MessageLength;	   // 字符串的长度
 	int ResLen;			//剩余长度
 	pthread_mutex_t WriteMutex; // 互斥锁
@@ -56,14 +56,11 @@ static int Deal_Thread = JZ_FLAGCODE_OFF;	//用于判断处理线程是否成功
 static void *UartDeal_rece(void *arg);
 static void *UartDeal_deal(void *arg);
 
-/*********************
- *
- *  串口接收线程
- *
- * *****************/
+
 /******************************************************************
 
 	初始化串口接收和处理
+	传入 串口描述符 和 串口名
 
 ******************************************************************/
 int JZsdk_Uart_UartDeal_Receive(int Uart_fd, int Uart_Dev_name)
@@ -75,17 +72,26 @@ int JZsdk_Uart_UartDeal_Receive(int Uart_fd, int Uart_Dev_name)
 	pthread_attr_init(&task_attribute);									   // 初始化线程属性
 	pthread_attr_setdetachstate(&task_attribute, PTHREAD_CREATE_DETACHED); // 设置线程属性
 
+	//根据串口名，将串口描述符赋值给对应的串口，并打开对应的线程开关
 	if (Uart_Dev_name == UART_DEV_1)
 	{
 		Uart_DEV1_fd = Uart_fd;
+		Uart_DEV1_Switch = JZ_FLAGCODE_ON;
 	}
 	else if (Uart_Dev_name == UART_DEV_2)
 	{
 		Uart_DEV2_fd = Uart_fd;
+		Uart_DEV2_Switch = JZ_FLAGCODE_ON;
 	}
 	else if (Uart_Dev_name == UART_4G)
 	{
 		Uart_4G_fd = Uart_fd;
+		Uart_4G_Switch = JZ_FLAGCODE_ON;
+	}
+	else
+	{
+		JZSDK_LOG_ERROR("Uart_Dev_name error");
+		return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
 	}
 
 	s_SerialArgs *parameter = (s_SerialArgs *)malloc(sizeof(s_SerialArgs));
@@ -109,6 +115,8 @@ int JZsdk_Uart_UartDeal_Receive(int Uart_fd, int Uart_Dev_name)
 	pthread_attr_init(&task_attribute1);
 	pthread_attr_init(&task_attribute2);
 
+
+	// 创建串口接收线程
 	if (pthread_create(&receiveThread, &task_attribute1, UartDeal_rece, parameter) != 0)
 	{
 		JZSDK_LOG_ERROR("Failed to create receive thread");
@@ -129,39 +137,38 @@ int JZsdk_Uart_UartDeal_Receive(int Uart_fd, int Uart_Dev_name)
  * ***/
 static void *UartDeal_rece(void *arg)
 {
-
 	s_SerialArgs *args = (s_SerialArgs *)arg;
 	struct timeval timeout; // 超时时间
 	fd_set fs_read;
 
+	//获取串口描述符
 	int Uart_fd = args->UartFd;
 
-	FD_ZERO(&fs_read);
-	FD_SET(Uart_fd, &fs_read);
-
-	memset(args->Message, 0, sizeof(args->Message)); // 清空接收数组
+	//清空接收数组与初始化配置
+	memset(args->Message, 0, sizeof(args->Message)); 
 	args->ResLen = 0;
 	args->MessageLength = 0;
 
-	int *TheadSwtch = NULL;
-	if (args->UartDevName == UART_4G)
-	{
-		TheadSwtch = &Uart_4G_Switch;
-		Uart_4G_Switch = JZ_FLAGCODE_ON;
-	}
-	else if (args->UartDevName == UART_DEV_1)
-	{
-		TheadSwtch = &Uart_DEV1_Switch;		
-		Uart_DEV1_Switch = JZ_FLAGCODE_ON;
-	}
-	else if (args->UartDevName == UART_DEV_2)
-	{
-		TheadSwtch = &Uart_DEV2_Switch;
-		Uart_DEV2_Switch = JZ_FLAGCODE_ON;
-	}
+	// 根据设备名称设置相应的线程开关
+	int *TheadSwtch = NULL;  //线程开关
+    switch(args->UartDevName) 
+	{
+        case UART_4G:
+            TheadSwtch = &Uart_4G_Switch;
+            break;
+        case UART_DEV_1:
+            TheadSwtch = &Uart_DEV1_Switch;
+            break;
+        case UART_DEV_2:
+            TheadSwtch = &Uart_DEV2_Switch;
+            break;
+        default:
+            return NULL; // 或者处理未知设备的情况
+    }
 	
 	while (*TheadSwtch)
 	{        
+		//重置处理时间
 		FD_ZERO(&fs_read);
 		FD_SET(Uart_fd, &fs_read);
 
@@ -170,17 +177,20 @@ static void *UartDeal_rece(void *arg)
 
 		// 检查fs_read套接字是否有数据
 		int ret = select(Uart_fd + 1, &fs_read, NULL, NULL, &timeout);
-		if (ret < 0) {
-			// 发生错误
-			JZSDK_LOG_ERROR("串口select出错");
+
+		// 发生错误
+		if (ret < 0) 
+		{
+			//清空缓冲区
+			JZSDK_LOG_ERROR("uart select error");
 			args->MessageLength = 0;
 			args->ResLen = 0;
 			memset(&(args->Message[0]), 0, sizeof(args->Message));
-			delayMs(3);
 			continue;
-		} else if (ret == 0) 
+		} 
+		// 超时
+		else if (ret == 0) 
 		{
-			// 超时
 			continue;
 		}
 
@@ -189,8 +199,11 @@ static void *UartDeal_rece(void *arg)
 
 		// 读取串口内容
 		int bytesRead = read(Uart_fd, &(args->Message[args->ResLen]), (sizeof(args->Message) - args->ResLen));
+		
+		//正常读取到数据
 		if (bytesRead > 0) 
 		{
+			//计算当前的数据长度
 			args->MessageLength = args->ResLen + bytesRead;
 
 			// data_len+=bytesRead;
@@ -204,12 +217,14 @@ static void *UartDeal_rece(void *arg)
 			// 	JZSDK_LOG_OUTPUTHEX("%s",&args->Message[i+args->ResLen]);
 			// }
 
+			// 更新剩余长度
 			args->ResLen = 0;
 		} 
+		//读取到数据为空
 		else if (bytesRead == 0) 
 		{
 			// 串口关闭或者无数据可读
-			JZSDK_LOG_ERROR("串口读取数据为空");
+			JZSDK_LOG_ERROR("Error reading from serial port is empty");
 			args->MessageLength = 0;
 			args->ResLen = 0;
 			memset(&(args->Message[0]), 0, sizeof(args->Message));
@@ -227,12 +242,13 @@ static void *UartDeal_rece(void *arg)
 		//pthread_cond_signal(&args->cond);
 		pthread_mutex_unlock(&args->ReadMutex); // 解锁
 
-		// 添加适当延时，确保接收缓冲区完全填满
+		// 添加适当延时，确保接收缓冲区有足够的数据
 		delayMs(3); // 加多了可能导致实时播放难恢复,以及声音间隔  3ms32字节 会向上约1个3ms opus一帧80字节
 	}
 
 	//注销相关
 	Recv_Thread = JZ_FLAGCODE_OFF;
+
 	// 通知线程
 	//pthread_cond_signal(&args->cond);
 	pthread_mutex_unlock(&args->WriteMutex); // 解锁
@@ -252,24 +268,22 @@ static void *UartDeal_deal(void *arg)
 
 	static int ResidualLength = 0; // 未处理数据长度
 
-	int *TheadSwtch = NULL;
-	if (args->UartDevName == UART_4G)
-	{
-		TheadSwtch = &Uart_4G_Switch;
-		Uart_4G_Switch = JZ_FLAGCODE_ON;
-	}
-	else if (args->UartDevName == UART_DEV_1)
-	{
-		TheadSwtch = &Uart_DEV1_Switch;		
-		Uart_DEV1_Switch = JZ_FLAGCODE_ON;
-	}
-	else if (args->UartDevName == UART_DEV_2)
-	{
-		TheadSwtch = &Uart_DEV2_Switch;
-		Uart_DEV2_Switch = JZ_FLAGCODE_ON;
-	}
-
-	//int data_len = 0;
+	// 根据设备名称设置相应的线程开关
+	int *TheadSwtch = NULL;  //线程开关
+    switch(args->UartDevName) 
+	{
+        case UART_4G:
+            TheadSwtch = &Uart_4G_Switch;
+            break;
+        case UART_DEV_1:
+            TheadSwtch = &Uart_DEV1_Switch;
+            break;
+        case UART_DEV_2:
+            TheadSwtch = &Uart_DEV2_Switch;
+            break;
+        default:
+            return NULL; // 或者处理未知设备的情况
+    }
 
 	while (*TheadSwtch)
 	{
@@ -283,45 +297,22 @@ static void *UartDeal_deal(void *arg)
 		// data_len+=args->MessageLength;
 		// printf("当前处理长度%d\n",data_len);
 
+		//如果当前存在数据
 		if (args->MessageLength > 0)
 		{
-
-			//清除错误的多余半帧
-			//前面有帧的长度
-			if(args->ResLen != 0)
-			{
-				//存在第一帧，同时第二轮的数据开头是帧头，则清空前半段第一帧
-				if (   (args->Message[args->ResLen ] == 0x5A) 
-					&& (args->Message[args->ResLen + 1] == 0x5A) 
-					&& (args->Message[args->ResLen + 2] == 0x77) )  
-				{
-					int temp_num;
-					temp_num = args->MessageLength - args->ResLen;
-					if (temp_num < 0)
-					{
-						temp_num = 0;
-					}
-		
-					memcpy(args->Message, &(args->Message[args->ResLen]), temp_num);
-					memset(&args->Message[temp_num], 0, (args->MessageLength - temp_num));
-					args->MessageLength = temp_num;
-					args->ResLen = 0;
-
-					JZSDK_LOG_ERROR("串口上一帧为不完全帧，舍弃该帧操作");
-				}
-			}
-			
-			// 处理数据
+			//处理数据
 			ResidualLength = UartDeal_Recv_interface(0, args->UartFd, args->Message, args->MessageLength);
+
 			//如果还有剩余的长度
-			if (ResidualLength != 0)
+			if (ResidualLength != 0) //将其返还到缓冲区
 			{
 				memcpy(args->Message, &(args->Message[args->MessageLength - ResidualLength]), ResidualLength);
 				memset(&(args->Message[ResidualLength]), 0, (sizeof(args->Message) - ResidualLength));
 				args->MessageLength = 0;
 				args->ResLen = ResidualLength;
 			}
-			else
+			
+			else //清空一次缓冲区
 			{
 				memset(args->Message, 0, sizeof(args->Message));
 				args->MessageLength = 0;
@@ -329,6 +320,8 @@ static void *UartDeal_deal(void *arg)
 			}
 
 		}
+
+		//如果不存在数据 或 存在异常 ，则顺便清空一次缓冲区
 		else
 		{
 			memset(args->Message, 0, sizeof(args->Message));
@@ -344,6 +337,30 @@ static void *UartDeal_deal(void *arg)
 	JZSDK_LOG_WARN("串口处理线程被关闭");
 }
 
+
+
+
+
+
+
+
+
+
+
+
+/********************************************************************************************************************
+ * 
+ * 
+ *   分割线
+ * 
+ * 
+**********************************************************************************************************************/
+
+
+
+
+
+
 /*
 
 	数据排出函数
@@ -824,13 +841,12 @@ static void *CloseUart(void *arg)
 		return 0;
 	}
 
+	//直到某个串口达成了关闭，这里不能明确到判断哪个串口关闭，但是识别第一个关闭的串口
 	while ( (Recv_Thread != JZ_FLAGCODE_OFF) && (Deal_Thread != JZ_FLAGCODE_OFF))
 	{
 		delayMs(1);
 	}
 	
-	delayMs(100);
-
 	//保证全部注销后
 	JZSDK_LOG_INFO("串口注销完毕");