使用Read的等待语义，降低CPU占用

Jiu-xiao · Jiu-xiao · commit 12188e64a23c · 2025-10-11T01:56:11.000+08:00
diff --git a/SharedTopic.hpp b/SharedTopic.hpp
@@ -75,6 +75,7 @@ class SharedTopic : public LibXR::Application
     LibXR::ReadOperation op(sem);
     while (true)
     {
+      self->uart_->Read({nullptr, 0}, op);
       auto size =
           LibXR::max(sizeof(LibXR::Topic::PackedDataHeader),
                      LibXR::min(self->uart_->read_port_->Size(), self->rx_buffer_.size_));

Original file line number	Diff line number	Diff line change
`@@ -75,6 +75,7 @@ class SharedTopic : public LibXR::Application`
`75`	`75`	`LibXR::ReadOperation op(sem);`
`76`	`76`	`while (true)`
`77`	`77`	`{`
	`78`	`+ self->uart_->Read({nullptr, 0}, op);`
`78`	`79`	`auto size =`
`79`	`80`	`LibXR::max(sizeof(LibXR::Topic::PackedDataHeader),`
`80`	`81`	`LibXR::min(self->uart_->read_port_->Size(), self->rx_buffer_.size_));`