add udp server

config/rvfusion_config.yaml

+GlobalConfig:
+  mec_id: "00000051"
+
+FusionConfig:
+  thread: 4
+  center_lon: 0
+  center_lat: 0
+  fusion_stdout: true
+  log_indata: true
+  log_path: "/workspace/fusion_data/origin"
+  filter_radius: 130
+  fusion_radius: 130
+  vision_vehicle_out_radius: 130
+  vision_unvehicle_out_radius: 130
+  first_mode: "r"
+  create_fobj_mode: "rv"
+  check_objtype: true
+  filter_radar_nonvehicle: true
+  filter_radar_vehicle: false
+  filter_vision_nonvehicle: false
+  filter_vision_vehicle: false
+  filter_devid_r: []
+  filter_devid_v: []
+  dynamicDropFrame: true
+  heading_keep: []

incl/fusionDistribTask.h

@@ -22,6 +22,7 @@
 #include "fusionCsv.h"
 #include "sensDevice.h"
 #include "fusionDataLog.h"
+#include "fusionUdpObj.h"
 
 using namespace std;
 

incl/fusionUdpObj.h

+#ifndef FUSION_UDP_OBJ_H
+#define FUSION_UDP_OBJ_H
+
+#include <cstdint>
+#include <string>
+
+#pragma pack(1)
+
+typedef struct _UdpRadarObj
+{
+  std::string id;
+  std::string strId;
+  std::string type;
+  int32_t vehType;
+  double vehL;
+  double vehW;
+  double vehH;
+  double xPos;
+  double yPos;
+  double speed;
+  double heading;
+  double dist;
+  double bearing;
+  double rcs;
+  double prop;
+  double lon;
+  double lat;
+  double alt;
+  int32_t objPos;
+  std::string cross_name;
+  std::string inner_pos;
+} 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

launch/fusion.launch

 <launch>
-   <arg name="rvfusion_config_path" default="/workspace/etc/rvfusion_config.yaml" />
+   <arg name="rvfusion_config_path" default="$(find jfx_multi_site)/config/rvfusion_config.yaml" />
    <node pkg="jfx_rvfusion_cx" type="jfx_rvfusion_cx" name="jfx_rvfusion_cx" output="screen" respawn="true" >
        <param name="config_file" value="$(arg rvfusion_config_path)" />
    </node>

src/fusionDistribTask.cpp

@@ -160,14 +160,12 @@ void FusionDistributeTask::onVisionData(const jfx_common_msgs::det_tracking_arra
     }
 }
 
-// ToDO: 用实际的结构代替这个
-typedef struct _tagSTTempData {
-} STTempData;
+
 void FusionDistributeTask::udpSrv()
 {
     int socketHandle;
     struct sockaddr_in server, client;
-    STTempData data;
+    UdpRadarData data;
 
     socketHandle = socket(AF_INET, SOCK_DGRAM, 0);
     if (-1 == socketHandle) {
@@ -198,14 +196,32 @@ void FusionDistributeTask::udpSrv()
             continue;
         }
 
-        // ToDO: set tObjPtr value
+        UdpRadarData radar_data = {};
+        memcpy((void*)radar_data, data, (size_t)sizeof(data));
+        tObjPtr->mDevIDStr = radar_data.device;
+        tObjPtr->mModeStr = "r";
+        for (const auto obj : radar_data.objs) {
+            tObjPtr->mID = obj.id;
+            tObjPtr->mMS = obj.create_stamp;
+            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();
+        }
 
-        mBufTrafficObjListMutex.lock();
-        mBufTrafficObjList.push_back(tObjPtr);
-        mBufTrafficObjListMutex.unlock();
+        close(socketHandle);
     }
-
-    close(socketHandle);
 }
 
 void FusionDistributeTask::run()