From 91edce4c65f08dd2f4981c55427d0a78daeb8ee6 Mon Sep 17 00:00:00 2001
From: cyy_mac <cyy@mac.com>
Date: Thu, 26 Mar 2026 18:55:36 +0800
Subject: [PATCH] uart fix

---
 .../transporter_driver/uart_transporter.cpp   | 47 ++++++++++++++++++-
 1 file changed, 45 insertions(+), 2 deletions(-)

diff --git a/src/rm_hardware_driver/rm_serial_driver/src/transporter_driver/uart_transporter.cpp b/src/rm_hardware_driver/rm_serial_driver/src/transporter_driver/uart_transporter.cpp
index d086797..17e8777 100644
--- a/src/rm_hardware_driver/rm_serial_driver/src/transporter_driver/uart_transporter.cpp
+++ b/src/rm_hardware_driver/rm_serial_driver/src/transporter_driver/uart_transporter.cpp
@@ -27,9 +27,51 @@
 #include <sys/types.h>
 #include <termios.h> /*PPSIX 终端控制定义*/
 #include <unistd.h>  /*Unix 标准函数定义*/
+#include <dirent.h>  /*目录操作*/
+#include <cctype>    /*isdigit*/
 
 namespace fyt::serial_driver {
 
+// 自动搜索匹配的串口设备
+static std::string find_ttyacm_device(const std::string& device_path) {
+  if (device_path.find("/dev/ttyACM") == 0) {
+    // 先尝试直接打开指定设备（O_RDWR | O_NOCTTY | O_NDELAY）
+    int test_fd = open(device_path.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
+    if (test_fd >= 0) {
+      close(test_fd);
+      return device_path;
+    }
+    // 指定设备不可用，搜索所有 ttyACM* 设备
+    DIR* dir = opendir("/dev");
+    if (dir) {
+      struct dirent* entry;
+      int max_num = -1;
+      std::string found_path;
+      while ((entry = readdir(dir)) != nullptr) {
+        // 匹配 ttyACM 开头，且后面是数字
+        if (strncmp(entry->d_name, "ttyACM", 6) == 0 && isdigit(entry->d_name[6])) {
+          std::string full_path = std::string("/dev/") + entry->d_name;
+          // 检查是否是有效字符设备
+          struct stat st;
+          if (stat(full_path.c_str(), &st) == 0 && S_ISCHR(st.st_mode)) {
+            // 提取数字部分
+            int num = atoi(entry->d_name + 6);
+            if (num > max_num) {
+              max_num = num;
+              found_path = full_path;
+            }
+          }
+        }
+      }
+      closedir(dir);
+      if (!found_path.empty()) {
+        return found_path;
+      }
+    }
+  }
+  return device_path;
+}
+
 bool UartTransporter::setParam(int speed, int flow_ctrl, int databits, int stopbits, int parity) {
   // 设置串口数据帧格式
   int speed_arr[] = {B115200, B19200, B9600, B4800, B2400, B1200, B300};
@@ -147,9 +189,10 @@ bool UartTransporter::open() {
   if (is_open_) {
     return true;
   }
-  fd_ = ::open(device_path_.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
+  std::string actual_path = find_ttyacm_device(device_path_);
+  fd_ = ::open(actual_path.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
   if (-1 == fd_) {
-    error_message_ = "can't open uart device: " + device_path_;
+    error_message_ = "can't open uart device: " + actual_path;
     return false;
   }
   // 恢复串口为阻塞状态