debug

incl/fusionUdpObj.h

@@ -3,15 +3,16 @@
 
 #include <cstdint>
 #include <string>
+#include <vector>
 
 #pragma pack(1)
 
 typedef struct _UdpRadarObj
 {
+  char device[20];
   int32_t id;
   uint64_t time;
-  std::string strId;
-  std::string type;
+  char type[20];
   int32_t vehType;
   double vehL;
   double vehW;
@@ -28,20 +29,9 @@ typedef struct _UdpRadarObj
   double lat;
   double alt;
   int32_t objPos;
-  std::string cross_name;
-  std::string inner_pos;
+  uint64_t pt[4];
 } UdpRadarObj;
 
-typedef struct _UdpRadarData
-{
-  std::string device;
-  uint64_t tm;
-  std::string str_tm;
-  int32_t size;
-  UdpRadarObj objs[100];
-  uint64_t pt[];
-} UdpRadarData;
-
 #pragma pack()
 
 #endif  // FUSION_UDP_OBJ_H
\ No newline at end of file

src/fusionDistribTask.cpp

@@ -165,7 +165,7 @@ void FusionDistributeTask::udpSrv()
 {
     int socketHandle;
     struct sockaddr_in server, client;
-    UdpRadarData data;
+    UdpRadarObj obj;
 
     socketHandle = socket(AF_INET, SOCK_DGRAM, 0);
     if (-1 == socketHandle) {
@@ -186,8 +186,8 @@ void FusionDistributeTask::udpSrv()
     char buf[10240] = { 0 };
     while (FConfPtr->mBAppExit == false) {
         int cliLen = sizeof(client);
-        int ret = recvfrom(socketHandle, (void*)&data, (size_t)sizeof(data), 0, (struct sockaddr*)&client, (socklen_t*)&cliLen);
-        if (ret != sizeof(data)) {
+        int ret = recvfrom(socketHandle, (void*)&obj, (size_t)sizeof(obj), 0, (struct sockaddr*)&client, (socklen_t*)&cliLen);
+        if (ret != sizeof(obj)) {
             continue;
         }
         
@@ -196,29 +196,25 @@ void FusionDistributeTask::udpSrv()
             continue;
         }
 
-        UdpRadarData radar_data = {};
-        memcpy((void*)&radar_data, data, (size_t)sizeof(data));
-        tObjPtr->mDevIDStr = radar_data.device;
+        tObjPtr->mDevIDStr = obj.device;
         tObjPtr->mModeStr = "r";
-        for (const auto obj : radar_data.objs) {
-            tObjPtr->mID = obj.id;
-            tObjPtr->mMS = obj.time;
-            tObjPtr->mLon = obj.lon;
-            tObjPtr->mLat = obj.lat;
-            tObjPtr->mAlt = 0;
-            tObjPtr->mHeading = obj.heading;
-            tObjPtr->mSpeed = obj.speed;
-            tObjPtr->mLength = obj.vehL;
-            tObjPtr->mWidth = obj.vehW;
-            tObjPtr->mHeight = obj.vehH;
-            tObjPtr->mXPos = obj.xPos;
-            tObjPtr->mYPos = obj.yPos;
-            tObjPtr->mTypeStr = obj.type;
-            tObjPtr->mSubType = 0;
-            mBufTrafficObjListMutex.lock();
-            mBufTrafficObjList.push_back(tObjPtr);
-            mBufTrafficObjListMutex.unlock();
-        }
+        tObjPtr->mID = obj.id;
+        tObjPtr->mMS = obj.time;
+        tObjPtr->mLon = obj.lon;
+        tObjPtr->mLat = obj.lat;
+        tObjPtr->mAlt = 0;
+        tObjPtr->mHeading = obj.heading;
+        tObjPtr->mSpeed = obj.speed;
+        tObjPtr->mLength = obj.vehL;
+        tObjPtr->mWidth = obj.vehW;
+        tObjPtr->mHeight = obj.vehH;
+        tObjPtr->mXPos = obj.xPos;
+        tObjPtr->mYPos = obj.yPos;
+        tObjPtr->mTypeStr = obj.type;
+        tObjPtr->mSubType = 0;
+        mBufTrafficObjListMutex.lock();
+        mBufTrafficObjList.push_back(tObjPtr);
+        mBufTrafficObjListMutex.unlock();
 
         close(socketHandle);
     }