1 files changed, 20 insertions, 6 deletions

diff --git a/udp2lcm.c b/udp2lcm.c
index ec8aee8..c328a96 100644
--- a/udp2lcm.c
+++ b/udp2lcm.c
@@ -10,9 +10,19 @@
  * cmd为0停，1前，2左，3右
  */
 #include "path/path_ctrl_t.h"
+#include <arpa/inet.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <netinet/in.h>
+#include <poll.h>
+#include <pthread.h>
+#include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include <sys/socket.h>
+#include <termios.h>
+#include <unistd.h>
 
 #define MAX_BUFFER_SIZE 1024
 #define PORT 5001
@@ -37,6 +47,9 @@ int main() {
     }
     // 开启udp接收线程
     pthread_create(&udpRecv, NULL, udpRecvHandler, NULL);
+    while (true) {
+        pause();
+    }
     return 0;
 }
 
@@ -62,6 +75,7 @@ void udpRecvHandler() {
     int retval;
     struct pollfd fds;
 
+    printf("udpRecvHandler\n");
     if ((socketfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
         fprintf(stderr, "Error: Failed to create socket\n");
         return;
@@ -69,7 +83,7 @@ void udpRecvHandler() {
     memset((char *)&serverAddr, 0, sizeof(serverAddr));
     memset(buffer, 0, sizeof(buffer));
     serverAddr.sin_family = AF_INET;
-    serverAddr.sin_port = htons(port);
+    serverAddr.sin_port = htons(PORT);
     serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
 
     if (bind(socketfd, (struct sockaddr *)&serverAddr, sizeof(serverAddr)) ==
@@ -107,7 +121,9 @@ void udpRecvHandler() {
             break;
         } else if (retval == 0) {
             printf("No data within three seconds.\n");
-            speedControl(0, 0);
+            // out of 3s, stop the wheel
+            path_ctrl_t path = {0, 0};
+            path_ctrl_t_publish(path_ctrl_lcm, "wheel_ctrl", &path);
         } else {
             bytesReceived = recvfrom(socketfd, buffer, MAX_BUFFER_SIZE, 0,
                                      (struct sockaddr *)&clientAddr, &addrLen);
@@ -136,7 +152,7 @@ void udpSendHandler() {
 
     memset((char *)&serverAddr, 0, sizeof(serverAddr));
     serverAddr.sin_family = AF_INET;   // 设置地址族为IPv4
-    serverAddr.sin_port = htons(port); // 设置端口号
+    serverAddr.sin_port = htons(PORT); // 设置端口号
     if (inet_aton(clientIP, &serverAddr.sin_addr) == 0) {
         fprintf(stderr, "Error: Failed to convert IP address\n");
         close(sockfd);
@@ -146,14 +162,13 @@ void udpSendHandler() {
     while (true) {
         sendto(sockfd, (const char *)heartBeat, 9, 0,
                (struct sockaddr *)&serverAddr, sizeof(serverAddr));
-        printf("Send: Data %02x udpSend successfully!\n", a);
         sleep(1);
     }
 }
 
 void parseCmd(const char *buffer, int bytesReceived) {
     // TODO: 完成本函数的内容
-    if (buffer == NULL || strlen(buffer) != 9) {
+    if (buffer == NULL) {
         fprintf(stderr, "Error: Invalid message\n");
         return;
     }
@@ -179,6 +194,5 @@ void parseCmd(const char *buffer, int bytesReceived) {
          */
     } else if (buffer[0] == 3) {
         // 手机发来的终点坐标，转发给算法模块
-        ;
     }
 }
\ No newline at end of file