From 96aaeb0460246e4ee589a6deb54f991489aa994f Mon Sep 17 00:00:00 2001
From: lyf <169361657@qq.com>
Date: Sat, 28 Mar 2026 05:03:21 +0800
Subject: [PATCH] =?UTF-8?q?=C2=B7?=
MIME-Version: 1.0
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---
 others/src/serial.cpp | 41 ++++++++++++++++++-----------------------
 1 file changed, 18 insertions(+), 23 deletions(-)

diff --git a/others/src/serial.cpp b/others/src/serial.cpp
index d2b599f..7eb360a 100644
--- a/others/src/serial.cpp
+++ b/others/src/serial.cpp
@@ -177,6 +177,8 @@ bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
 #elif defined(Linux) || defined(Darwin)
 
 #include <string.h>
+#include <thread>
+#include <chrono>
 
 using namespace std;
 
@@ -189,17 +191,10 @@ string get_uart_dev_name() {
 
 Serial::Serial(int nSpeed, char nEvent, int nBits, int nStop) :
         nSpeed(nSpeed), nEvent(nEvent), nBits(nBits), nStop(nStop) {
-    if (wait_uart) {
-        LOGM("Wait for serial be ready!");
-        while (!InitPort(nSpeed, nEvent, nBits, nStop));
-        LOGM("Port set successfully!");
-    } else {
-        if (InitPort(nSpeed, nEvent, nBits, nStop)) {
-            LOGM("Port set successfully!");
-        } else {
-            LOGE("Port set fail!");
-        }
-    }
+    LOGM("Waiting for serial port...");
+    while (!InitPort(nSpeed, nEvent, nBits, nStop))
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
+    LOGM("Port set successfully!");
 }
 
 Serial::~Serial() {
@@ -227,19 +222,19 @@ bool Serial::InitPort(int nSpeed, char nEvent, int nBits, int nStop) {
 
 bool Serial::WriteData(const unsigned char *pData, unsigned int length) {
     int cnt = 0, curr = 0;
-    if (fd <= 0){
-        if(wait_uart){
-            InitPort(nSpeed, nEvent, nBits, nStop);
-        }
+    if (fd <= 0) {
+        LOGE("Serial offline! Reconnecting...");
+        while (!InitPort(nSpeed, nEvent, nBits, nStop))
+            std::this_thread::sleep_for(std::chrono::milliseconds(500));
         return false;
     }
     while ((curr = write(fd, pData + cnt, length - cnt)) > 0 && (cnt += curr) < length);
     if (curr < 0) {
-        LOGE("Serial offline!");
+        LOGE("Serial write error! Reconnecting...");
         close(fd);
-        if (wait_uart) {
-            InitPort(nSpeed, nEvent, nBits, nStop);
-        }
+        fd = -1;
+        while (!InitPort(nSpeed, nEvent, nBits, nStop))
+            std::this_thread::sleep_for(std::chrono::milliseconds(500));
         return false;
     }
     return true;
@@ -249,11 +244,11 @@ bool Serial::ReadData(unsigned char *buffer, unsigned int length) {
     int cnt = 0, curr = 0;
     while ((curr = read(fd, buffer + cnt, length - cnt)) > 0 && (cnt += curr) < length);
     if (curr < 0) {
-        LOGE("Serial offline!");
+        LOGE("Serial read error! Reconnecting...");
         close(fd);
-        if (wait_uart) {
-            InitPort(nSpeed, nEvent, nBits, nStop);
-        }
+        fd = -1;
+        while (!InitPort(nSpeed, nEvent, nBits, nStop))
+            std::this_thread::sleep_for(std::chrono::milliseconds(500));
         return false;
     }
     return true;