From e0db2eaa10a4192f8d015b6ebf7d7a21aece8e54 Mon Sep 17 00:00:00 2001
From: Lizongdi <1210855344@qq.com>
Date: Thu, 24 Sep 2026 15:56:05 +0800
Subject: [PATCH] =?UTF-8?q?ringbuffer=E8=BF=99=E9=87=8C=E4=BC=9A=E6=AD=BB?=
 =?UTF-8?q?=E5=BE=AA=E7=8E=AF=EF=BC=8C=E5=8F=B3=E7=94=B5=E6=9C=BA=E9=94=99?=
 =?UTF-8?q?=E8=AF=AF=E7=A0=81=E8=B5=8B=E5=80=BC=E5=89=8D=E4=B9=9F=E6=A0=A1?=
 =?UTF-8?q?=E9=AA=8C=E4=B8=80=E4=B8=8B?=
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---
 library/ringbuffer/ringbuffer.c           | 17 +++--------------
 project/paint_robot_new/paint_robot_new.c |  4 ++--
 2 files changed, 5 insertions(+), 16 deletions(-)

diff --git a/library/ringbuffer/ringbuffer.c b/library/ringbuffer/ringbuffer.c
index 40d9d14..46958ee 100644
--- a/library/ringbuffer/ringbuffer.c
+++ b/library/ringbuffer/ringbuffer.c
@@ -395,7 +395,6 @@ int rd_RingbufferGetchar(rd_ringbuf_t *rb, char *ch)
 int rd_RingbufferDataLen(rd_ringbuf_t *rb)
 {
     if (!rb) return RD_INVALUE;
-    int iRet = 0;
 
     unsigned short wi = ATOMIC_LOAD(&rb->m_sWriteIndex, unsigned short, ATOMIC_ORDER_ACQUIRE);
     unsigned short ri = ATOMIC_LOAD(&rb->m_sReadIndex, unsigned short, ATOMIC_ORDER_RELAXED);
@@ -403,24 +402,14 @@ int rd_RingbufferDataLen(rd_ringbuf_t *rb)
     unsigned char rb_m = ATOMIC_LOAD(&rb->m_bReadMirror, unsigned char, ATOMIC_ORDER_RELAXED);
 
     if (wi == ri) {
-    	iRet = (wb == rb_m) ? 0 : rb->m_iBufsize;
+        return (wb == rb_m) ? 0 : rb->m_iBufsize;
     }
 
     if (wb == rb_m) {
-    	iRet = wi - ri;
+        return wi - ri;
     } else {
-    	iRet = rb->m_iBufsize - (ri - wi);
+        return rb->m_iBufsize - (ri - wi);
     }
-
-    if (iRet >= 0)
-	{
-		return iRet;
-	}
-	else
-	{
-		log_e("wb = %d, rb_m = %d, wi = %d, ri = %d", wb, rb_m, wi, ri);
-		return 0;
-	}
 }
 
 /**
diff --git a/project/paint_robot_new/paint_robot_new.c b/project/paint_robot_new/paint_robot_new.c
index ad75a6a..43e0b6e 100644
--- a/project/paint_robot_new/paint_robot_new.c
+++ b/project/paint_robot_new/paint_robot_new.c
@@ -757,7 +757,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 					g_stIV.Left_Motor_Err = uiFailtCode[1];
 					MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_LEFT_MOTOR, NULL, 0);
 				}
-				else
+				else if (uiFailtCode[0] == 2)
 				{
 					g_stIV.Right_Motor_Err = uiFailtCode[1];
 					MsgCenter_SendTo(MODULE_NAME_DAEMON, DAEMON_SET_RIGHT_MOTOR, NULL, 0);
@@ -866,11 +866,11 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 					log_a("Motor Error ! error code: left [%d] right [%d]", g_stIV.Left_Motor_Err, g_stIV.Right_Motor_Err);
 				}
 				
-				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0);
 				MsgCenter_SendTo(MODULE_NAME_RBCORE, RBCORE_CMD_STOP_ALL, NULL, 0);
 				if (g_stMK32.IsOnline == 0)
 				{
 					g_Is_All_Button_Reset = 0;
+					MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_POWER_DISABLE, NULL, 0);
 				}
 				break;
 			}