ringbuffer这里会死循环，右电机错误码赋值前也校验一下

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);
@@ -403,23 +402,13 @@ 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);
-    }
-
-    if (iRet >= 0)
-	{
-		return iRet;
-	}
-	else
-	{
-		log_e("wb = %d, rb_m = %d, wi = %d, ri = %d", wb, rb_m, wi, ri);
-		return 0;
+        return rb->m_iBufsize - (ri - wi);
     }
 }
 

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;
 			}