修复早期T009版本不回复不支持的命令，导致上位机不发送后续命令的问题。

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.16)
 
-project(AntiClipSettings VERSION 1.5 LANGUAGES C CXX)
+project(AntiClipSettings VERSION 1.6 LANGUAGES C CXX)
 set(APPLICATION_NAME "视觉防夹设备上位机工具")
 
 set(CMAKE_CXX_STANDARD 17)

DeviceConnection.cpp

@@ -4,6 +4,7 @@
 #include <QFileInfo>
 #include <QPointF>
 #include <QTimer>
+#include <QTimerEvent>
 #include <WinSock2.h>
 #include <boost/json/object.hpp>
 #include <boost/json/parse.hpp>
@@ -24,9 +25,9 @@ void DeviceConnection::close() {
         m_otaTimer->deleteLater();
         m_otaTimer = nullptr;
     }
-    if (m_timerId > 0) {
-        killTimer(m_timerId);
-        m_timerId = -1;
+    if (m_heartbeatTimerId > 0) {
+        killTimer(m_heartbeatTimerId);
+        m_heartbeatTimerId = -1;
     }
     if (m_commandSocket != nullptr) {
         m_commandSocket->deleteLater();
@@ -387,9 +388,9 @@ QFuture<bool> DeviceConnection::updateNetworkInfomation(bool dhcp, const QString
 void DeviceConnection::requestOta(const QString &firmware, const QString &file) {
     m_otaProgress = 0;
     emit otaProgressChanged(true, m_otaProgress, "正在向设备发起OTA请求......");
-    if (m_timerId > 0) {
-        killTimer(m_timerId);
-        m_timerId = -1;
+    if (m_heartbeatTimerId > 0) {
+        killTimer(m_heartbeatTimerId);
+        m_heartbeatTimerId = -1;
     }
     if (!m_requests.empty()) {
         m_requests.pop();
@@ -480,7 +481,7 @@ void DeviceConnection::transferBinContent() {
                 m_h264Socket->close();
             },
             type);
-        m_otaTimer->start(60 * 1000);
+        m_otaTimer->start(5 * 60 * 1000); // 固件升级五分钟，正常升级2.5分钟左右(包含算法模型)
     }
 }
 
@@ -613,7 +614,7 @@ QString DeviceConnection::handleCommand(const std::string_view &replyText, const
                 emit otaProgressChanged(true, m_otaProgress, "设备正在升级中,请稍后......");
             } else {
                 m_otaTimer->stop(); // 这里不需要再超时了
-                emit otaProgressChanged(true, 100, "设备正在升级中，请于一分钟后重新连接wifi搜索设备");
+                emit otaProgressChanged(true, 100, "设备正在升级中，请于五分钟后重新连接wifi搜索设备");
             }
         } else {
             const char *message = nullptr;
@@ -671,7 +672,7 @@ QString DeviceConnection::handleCommand(const std::string_view &replyText, const
     } else {
         LOG(warning) << "unknown reply: " << replyText;
     }
-    return QString::fromStdString(std::string(std::move(function)));
+    return QString::fromStdString(std::string(function));
 }
 
 void DeviceConnection::onConnected() {
@@ -684,7 +685,7 @@ void DeviceConnection::onConnected() {
         requestNetworkInfomation();
         requestVideoInformation();
         emit connected();
-        m_timerId = startTimer(2500);
+        m_heartbeatTimerId = startTimer(2500);
         if (m_otaProgress == 99) {
             m_otaProgress = -1;
             emit otaProgressChanged(true, 100, "设备升级成功!");
@@ -702,9 +703,9 @@ void DeviceConnection::onConnected() {
 void DeviceConnection::onDisconnected() {
     auto socket = dynamic_cast<QTcpSocket *>(sender());
     if (socket == m_commandSocket) {
-        if (m_timerId > 0) {
-            killTimer(m_timerId);
-            m_timerId = -1;
+        if (m_heartbeatTimerId > 0) {
+            killTimer(m_heartbeatTimerId);
+            m_heartbeatTimerId = -1;
         }
         emit disconnected();
         if ((m_otaProgress >= 0) && (m_otaProgress <= 98)) {
@@ -743,7 +744,6 @@ void DeviceConnection::onH264ReadyRead() {
 void DeviceConnection::onCommandReadyRead() {
     auto data = m_commandSocket->readAll();
     m_commandBuffer.push_back(data);
-
     while (!m_commandBuffer.isEmpty()) {
         auto packageSize = ntohl(*reinterpret_cast<uint32_t *>(m_commandBuffer.data()));
         if (m_commandBuffer.size() < (packageSize + sizeof(uint32_t))) break;
@@ -755,9 +755,13 @@ void DeviceConnection::onCommandReadyRead() {
             auto &task = m_requests.front();
             if (task.command == command) {
                 m_requests.pop();
+            } else {
+                LOG(warning) << "current command[" << command.toStdString() << "] is no the task queue's head["
+                             << task.command.toStdString() << "]";
             }
             if (!m_requests.empty()) {
-                m_requests.front().task();
+                auto &command = m_requests.front();
+                command.task();
             }
         }
     }
@@ -769,15 +773,34 @@ void DeviceConnection::onErrorOccurred(QAbstractSocket::SocketError socketError)
 }
 
 void DeviceConnection::timerEvent(QTimerEvent *event) {
-    if (isConnected()) {
-        int index = heartbeats % 3;
-        if (index == 0) {
-            requestOpenDoorArea();
-        } else if (index == 1) {
-            requestShieldedArea();
-        } else if (index == 2) {
-            requestAntiClipArea();
+    using namespace std::chrono;
+    if (event->timerId() == m_heartbeatTimerId) {
+        if (isConnected()) {
+            int index = heartbeats % 3;
+            if (index == 0) {
+                requestOpenDoorArea();
+            } else if (index == 1) {
+                requestShieldedArea();
+            } else if (index == 2) {
+                requestAntiClipArea();
+            }
+            heartbeats++;
+        }
+        if (!m_requests.empty()) {
+            auto &command = m_requests.front();
+            auto elapsed = duration_cast<milliseconds>(system_clock::now() - command.time);
+            if (elapsed > (HeartbeatInterval * 2)) {
+                LOG(info) << "not received command[" << command.command.toStdString() << "] more than "
+                          << (HeartbeatInterval * 2).count() << " ms, consider it failed, send next command.";
+                m_requests.pop();
+                if (!m_requests.empty()) {
+                    m_requests.front().task();
+                }
+            } else if (elapsed > HeartbeatInterval) {
+                LOG(info) << "not received command[" << command.command.toStdString() << "] more than "
+                          << HeartbeatInterval.count() << " ms, resend it.";
+                command.task();
+            }
         }
-        heartbeats++;
     }
 }

DeviceConnection.h

@@ -19,6 +19,7 @@ class DeviceConnection : public QObject {
 
 public:
     constexpr static auto WirelessAddress = "192.168.10.2";
+    constexpr static auto HeartbeatInterval = std::chrono::milliseconds(2500);
     enum Resolution {
         Video_360P = 0,
         Video_720P,
@@ -103,6 +104,7 @@ protected:
     class Task {
     public:
         QString command;
+        std::chrono::system_clock::time_point time = std::chrono::system_clock::now();
         std::function<void()> task;
         std::shared_ptr<QTimer> timeoutTimer = nullptr;
         std::shared_ptr<QFutureInterface<bool>> future;
@@ -135,7 +137,7 @@ private:
 
     H264FrameCallback m_frameCallback;
     std::queue<Task> m_requests;
-    int m_timerId = -1;
+    int m_heartbeatTimerId = -1;
     int heartbeats = 0;
     NetworkInfomation m_networkInfomation;
     QString m_firmware;