From 11131e26c5c01c7239ab1b6c0e9bd8da58be33f2 Mon Sep 17 00:00:00 2001
From: keita <16924591+keita_sakura@user.noreply.gitee.com>
Date: Thu, 24 Sep 2026 15:42:04 +0800
Subject: [PATCH] =?UTF-8?q?listen=5Fpod.py=20=E4=B8=B2=E5=8F=A3EIO?=
 =?UTF-8?q?=E5=BC=82=E5=B8=B8=E4=B8=8D=E5=86=8D=E5=B4=A9=E6=A0=88=E5=B9=B6?=
 =?UTF-8?q?=E7=BB=99=E5=87=BA=E6=8E=92=E6=9F=A5=E6=8F=90=E7=A4=BA?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Pi板载UART典型故障(errno 5): 捕获后打印串口控制台占用/mini-UART不稳的
排查指引与改用USB转串口建议, 退出码1; 打桩复现验证通过
---
 utils/pod_bridge/listen_pod.py | 23 +++++++++++++++++++++--
 1 file changed, 21 insertions(+), 2 deletions(-)

diff --git a/utils/pod_bridge/listen_pod.py b/utils/pod_bridge/listen_pod.py
index f8332bf..70d9773 100644
--- a/utils/pod_bridge/listen_pod.py
+++ b/utils/pod_bridge/listen_pod.py
@@ -45,8 +45,15 @@ def main() -> int:
 
     t0 = time.monotonic()
     n_tele, n_tgt, n_other = 0, 0, 0
+    link_error = None
     while time.monotonic() - t0 < args.seconds:
-        for frame in pod.poll():
+        try:
+            frames = pod.poll()
+        except OSError as exc:
+            # Pi 板载 UART 典型故障(errno 5 EIO):控制台抢占 / mini-UART 不稳
+            link_error = exc
+            break
+        for frame in frames:
             if isinstance(frame, Telemetry):
                 n_tele += 1
                 if n_tele == 1:
@@ -65,7 +72,19 @@ def main() -> int:
             else:
                 n_other += 1
         time.sleep(0.005)
-    pod.close()
+    try:
+        pod.close()
+    except OSError:
+        pass
+
+    if link_error is not None:
+        print(f"[listen] 链路中途断开: {link_error}")
+        print("[listen] 排查: ① 串口控制台是否仍占用 "
+              "(systemctl disable --now serial-getty@ttyS0/ttyAMA0) → 重启; "
+              "② /dev/serial0 是否指向 mini-UART(ttyS0 不稳定) → 加 "
+              "dtoverlay=disable-bt 换到 PL011(ttyAMA0),或改用 USB 转串口("
+              "/dev/ttyUSB0,推荐)")
+        return 1
 
     expected = _TELEMETRY_NOMINAL_HZ * args.seconds
     rate = n_tele / args.seconds if args.seconds > 0 else 0.0