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一个协调器对接多个终端会不会发生数据冲突

协议栈home1.2.2.a

场景:一个协调器对接多个终端定时上传数据,加入同一时刻两个终端或者多个终端同时想协调器发送数据,这会导致什么情况?或者说协议栈中有没有防止这个问题的措施。