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重构大疆电机和达妙电机的控制数据合并方法，修复掉线检测失效问题 #55

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Merged
popchutty merged 1 commit into from
Apr 17, 2026
Merged

重构大疆电机和达妙电机的控制数据合并方法，修复掉线检测失效问题 #55

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6 changes: 4 additions & 2 deletions GSRL/Device/inc/dvc_motor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,11 +118,12 @@ class MotorGM6020 : public Motor
uint8_t m_djiMotorID; // 大疆电机ID，6020电机对应1~7
uint16_t m_encoderHistory[2]; // 0:当前值 1:上一次值
int16_t m_currentRPMSpeed; // RPM
uint8_t m_mergedData[8]; // getMergedControlData 输出缓冲区

public:
MotorGM6020(uint8_t dji6020MotorID, Controller *controller, uint16_t encoderOffset = 0);
uint8_t getDjiMotorID() const;
MotorGM6020 operator+(const MotorGM6020 &otherMotor) const;
const uint8_t *getMergedControlData(MotorGM6020 &otherMotor);

protected:
bool decodeCanRxMessage(const can_rx_message_t &rxMessage) override;
Expand Down Expand Up @@ -215,12 +216,13 @@ class MotorDMmulti : public Motor
uint16_t m_encoderHistory[2]; // 0:当前值 1:上一次值
int16_t m_currentRPMSpeed; // 电机速度, 单位RPM(已除以100后的真实值)
uint8_t m_errorState; // 反馈帧D[7]错误状态字节, 具体含义详见达妙错误状态说明书
uint8_t m_mergedData[8]; // getMergedControlData 输出缓冲区

public:
MotorDMmulti(uint8_t dmMotorID, Controller *controller, uint16_t encoderOffset = 0);
uint8_t getDmMotorID() const;
uint8_t getErrorState() const;
MotorDMmulti operator+(const MotorDMmulti &otherMotor) const;
const uint8_t *getMergedControlData(MotorDMmulti &otherMotor);

protected:
bool decodeCanRxMessage(const can_rx_message_t &rxMessage) override;
Expand Down
48 changes: 26 additions & 22 deletions GSRL/Device/src/dvc_motor.cpp
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Expand Up @@ -533,26 +533,25 @@ uint8_t MotorGM6020::getDjiMotorID() const
}

/**
* @brief 大疆电机加法运算符重载，用于合并CAN控制数据
* @brief 合并两个同控制ID的大疆电机CAN控制数据, 同时触发双方掉线检测
* @param otherMotor 另一个同控制ID的大疆电机
* @return const uint8_t* 合并后的8字节CAN控制数据
* @note 返回的指针指向内部静态缓冲区, 下次调用会覆盖
Comment on lines +538 to +539
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Copilot AI Apr 17, 2026

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注释里写“返回的指针指向内部静态缓冲区”，但这里返回的是对象成员 m_mergedData（每个对象一份），并非 static 缓冲区。建议将说明改为“内部成员缓冲区/对象内缓冲区”，并明确仅同一对象的下次调用会覆盖。

Suggested change
* @return const uint8_t* 合并后的8字节CAN控制数据
* @note 返回的指针指向内部静态缓冲区, 下次调用会覆盖
* @return const uint8_t* 指向合并后的8字节CAN控制数据的指针
* @note 返回的指针指向当前对象的内部成员缓冲区m_mergedData, 仅当前对象的后续调用会覆盖该缓冲区内容

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*/
MotorGM6020 MotorGM6020::operator+(const MotorGM6020 &otherMotor) const
const uint8_t *MotorGM6020::getMergedControlData(MotorGM6020 &otherMotor)
{
const uint8_t *selfData = this->getMotorControlData();
const uint8_t *otherData = otherMotor.getMotorControlData();

if (m_motorControlMessageID != otherMotor.m_motorControlMessageID) {
return *this;
return selfData;
}

MotorGM6020 combineMotor = *this;
if (otherMotor.m_djiMotorID < 5) {
uint8_t offset = otherMotor.m_djiMotorID * 2 - 2;
combineMotor.m_motorControlData[offset] = otherMotor.m_motorControlData[offset];
combineMotor.m_motorControlData[offset + 1] = otherMotor.m_motorControlData[offset + 1];
} else {
uint8_t offset = otherMotor.m_djiMotorID * 2 - 10;
combineMotor.m_motorControlData[offset] = otherMotor.m_motorControlData[offset];
combineMotor.m_motorControlData[offset + 1] = otherMotor.m_motorControlData[offset + 1];
}
return combineMotor;
memcpy(m_mergedData, selfData, 8);
uint8_t offset = (uint8_t)(((otherMotor.m_djiMotorID - 1) & 0x3) * 2);
m_mergedData[offset] = otherData[offset];
Comment on lines +550 to +552
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这里新增使用 memcpy，但本文件并未直接包含 <cstring>/<string.h>，当前是通过 alg_general.hpp 的传递包含拿到声明，耦合较强。建议在本文件或对应头文件中显式包含 <cstring>（或 <string.h>）以避免后续移除间接 include 导致编译问题。

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m_mergedData[offset + 1] = otherData[offset + 1];
return m_mergedData;
Comment on lines +541 to +554
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当前实现每次都用 this->getMotorControlData() 作为合并的基底并 memcpy 覆盖整帧，因此连续多次调用该方法并不能像之前的 operator+ 那样累积合并 3+ 个电机的数据（会反复从“this 的原始控制帧”重新开始）。如果一条控制帧需要承载多电机（如一控四），建议提供可累积的合并接口（例如传入/返回可继续合并的缓冲区，或提供合并 N 个电机的函数），否则上层很难正确拼出完整 8 字节控制帧。

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}

/******************************************************************************
Expand Down Expand Up @@ -783,20 +782,25 @@ uint8_t MotorDMmulti::getErrorState() const
}

/**
* @brief 达妙一控四电机加法运算符重载, 用于合并同控制ID下多个电机的CAN控制数据
* @brief 合并两个同控制ID的一控四固件达妙电机CAN控制数据, 同时触发双方掉线检测
* @param otherMotor 另一个同控制ID的达妙一控四电机
* @return const uint8_t* 合并后的8字节CAN控制数据
* @note 返回的指针指向内部静态缓冲区, 下次调用会覆盖
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注释里写“返回的指针指向内部静态缓冲区”，但这里返回的是对象成员 m_mergedData（每个对象一份），并非 static 缓冲区。建议将说明改为“内部成员缓冲区/对象内缓冲区”，并明确仅同一对象的下次调用会覆盖。

Suggested change
* @note 返回的指针指向内部静态缓冲区, 下次调用会覆盖
* @note 返回的指针指向当前对象的内部成员缓冲区, 仅当前对象的下次调用会覆盖

Copilot uses AI. Check for mistakes.
*/
MotorDMmulti MotorDMmulti::operator+(const MotorDMmulti &otherMotor) const
const uint8_t *MotorDMmulti::getMergedControlData(MotorDMmulti &otherMotor)
{
const uint8_t *selfData = this->getMotorControlData();
const uint8_t *otherData = otherMotor.getMotorControlData();

if (m_motorControlMessageID != otherMotor.m_motorControlMessageID) {
return *this;
return selfData;
}

MotorDMmulti combineMotor = *this;
uint8_t offset = (uint8_t)(((otherMotor.m_dmMotorID - 1) & 0x3) * 2);
combineMotor.m_motorControlData[offset] = otherMotor.m_motorControlData[offset];
combineMotor.m_motorControlData[offset + 1] = otherMotor.m_motorControlData[offset + 1];
return combineMotor;
memcpy(m_mergedData, selfData, 8);
uint8_t offset = (uint8_t)(((otherMotor.m_dmMotorID - 1) & 0x3) * 2);
m_mergedData[offset] = otherData[offset];
Comment on lines +799 to +801
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同样地，这里新增使用 memcpy，建议显式包含 <cstring>/<string.h>，避免依赖其他头文件的传递包含导致后续编译脆弱。

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m_mergedData[offset + 1] = otherData[offset + 1];
return m_mergedData;
Comment on lines +790 to +803
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与上面的 GM6020 同理：该实现每次都从 this->getMotorControlData() 重新拷贝整帧，再覆盖另一个电机的 2 字节，因此无法通过多次调用累积合并 3~4 个电机（会丢失此前已合并的电机数据）。考虑到该类语义是一控四，建议提供可累积/可合并多个电机的接口，或至少在注释中明确该方法仅合并两台电机且不支持链式累积。

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}

/******************************************************************************
Expand Down
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