From 05adb18909d9be8021a6b697cd5e0337ea5d0642 Mon Sep 17 00:00:00 2001
From: Vladislav Ostapov <Vlados.ost.31@yandex.ru>
Date: Fri, 16 Jan 2026 14:53:36 +0300
Subject: [PATCH] =?UTF-8?q?=D0=BF=D0=BE=D0=BF=D1=8B=D1=82=D0=BA=D0=B0=20?=
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---
 air/main.cpp | 29 +++++++++++++++++++----------
 1 file changed, 19 insertions(+), 10 deletions(-)

diff --git a/air/main.cpp b/air/main.cpp
index 0b0d476..59b74cd 100644
--- a/air/main.cpp
+++ b/air/main.cpp
@@ -23,7 +23,7 @@ inline int64_t milliseconds() {
     return ((tv.tv_sec * 1000000l) + tv.tv_usec) / 1000;
 }
 
-constexpr int64_t SBUS_SEND_FRAME_INTERVAL = 15;
+constexpr int64_t SBUS_SEND_FRAME_INTERVAL = 50;
 constexpr int64_t SBUS_RXLOSS_INTERVAL = 500;
 
 class UDPServer {
@@ -186,7 +186,7 @@ public:
         // Открытие последовательного порта
         fd = ::open(port_path.c_str(), O_RDWR | O_NOCTTY | O_SYNC);
         if (fd < 0) {
-            std::cerr << "Failed to open serial port " << port_path << ": " << std::strerror(errno) << std::endl;
+            std::cout << "Failed to open serial port " << port_path << ": " << std::strerror(errno) << std::endl;
             return false;
         }
         struct termios2 tio{};
@@ -208,7 +208,7 @@ public:
         tio.c_cflag |= (BOTHER|CREAD|CLOCAL);
 
         if (ioctl(fd, TCSETS2, &tio) != 0) {
-            std::cerr << "Failed to set termios2 attributes: " << std::strerror(errno) << std::endl;
+            std::cout << "Failed to set termios2 attributes: " << std::strerror(errno) << std::endl;
             close(fd);
             return false;
         }
@@ -248,13 +248,13 @@ public:
 
         ssize_t written = write(fd, data.data(), data.size());
         if (written < 0) {
-            std::cerr << "Failed to write to serial port " << strerror(errno) << std::endl;
+            std::cout << "Failed to write to serial port " << strerror(errno) << std::endl;
             return false;
         }
 
         // Принудительная отправка данных
         if (drain() < 0) {
-            std::cerr << "Failed to flush data to serial port" << strerror(errno) << std::endl;
+            std::cout << "Failed to flush data to serial port" << strerror(errno) << std::endl;
             return false;
         }
         return true;
@@ -263,7 +263,7 @@ public:
 
 int main(int argc, char* argv[]) {
     // Парсим аргументы командной строки
-    std::string serial_port = "/dev/ttyUSB0";
+    std::string serial_port = "/dev/ttyPS0";
     if (argc > 1) {
         serial_port = argv[1];
     }
@@ -289,14 +289,23 @@ int main(int argc, char* argv[]) {
         int totalPacketCount = 0;
         int serialErrors = 0;
         int64_t lastStatisticsShow = milliseconds();
+        int64_t _lastLoopNow = lastStatisticsShow;
         while (true) {
             pollfd udpFd{.fd = udp_server.sockfd, .events = POLLIN, .revents = 0};
             poll(&udpFd, 1, SBUS_SEND_FRAME_INTERVAL / 4);
+            auto now = milliseconds();
+            if (std::abs(now - _lastLoopNow) > SBUS_SEND_FRAME_INTERVAL) {
+                std::cout << "Warning: Loop freeze, reset timers. now time:" << now << std::endl;
+                lastSbusWrite = 0;
+                lastSbusRecv = 0;
+                lastStatisticsShow = 0;
+            }
+            _lastLoopNow = now;
 
             if (udpFd.revents & POLLIN) {
                 // Прием UDP пакета
                 std::vector<uint16_t> data = udp_server.receive();
-                lastSbusRecv = milliseconds();
+                lastSbusRecv = now;
 
                 if (!data.empty()) {
                     packetCount++;
@@ -320,7 +329,7 @@ int main(int argc, char* argv[]) {
                 }
             }
 
-            const auto now = milliseconds();
+            std::cout << "from loop: current time " << now << std::endl;
             if (now - lastSbusWrite >= SBUS_SEND_FRAME_INTERVAL && now - lastSbusRecv <= SBUS_RXLOSS_INTERVAL) {
                 lastSbusWrite = now;
                 if (!serial.writeBuffer(sb.binaryBuffer)) {
@@ -331,7 +340,7 @@ int main(int argc, char* argv[]) {
 
                 // после 50 ошибок дальше не будем пытаться что-то писать, ибо это бесполезно
                 if (serialErrors >= 50) {
-                    std::cerr << "FATAL: 50 errors on serial port write operation, exit" << std::endl;
+                    std::cout << "FATAL: 50 errors on serial port write operation, exit" << std::endl;
                     break;
                 }
             }
@@ -345,7 +354,7 @@ int main(int argc, char* argv[]) {
         }
 
     } catch (const std::exception& e) {
-        std::cerr << "Error: " << e.what() << std::endl;
+        std::cout << "Error: " << e.what() << std::endl;
         return 1;
     }