1 files changed, 15 insertions, 15 deletions

diff --git a/udp2lcm/udp.c b/udp2lcm/udp.c
index 6c4bd4a..97fb53e 100644
--- a/udp2lcm/udp.c
+++ b/udp2lcm/udp.c
@@ -1,6 +1,6 @@
 #include "udp2lcm.h"
 
-void udpRecvHandler() {
+void *udpRecvHandler(void *args) {
     int socketfd = -1;
     char buffer[MAX_BUFFER_SIZE];
     struct sockaddr_in serverAddr;
@@ -13,7 +13,7 @@ void udpRecvHandler() {
     printf("udpRecvHandler\n");
     if ((socketfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
         fprintf(stderr, "Error: Failed to create socket\n");
-        return;
+        return NULL;
     }
     memset((char *)&serverAddr, 0, sizeof(serverAddr));
     memset(buffer, 0, sizeof(buffer));
@@ -25,7 +25,7 @@ void udpRecvHandler() {
         -1) {
         fprintf(stderr, "Error: Bind failed\n");
         close(socketfd);
-        return;
+        return NULL;
     }
 
     bytesReceived = recvfrom(socketfd, buffer, MAX_BUFFER_SIZE, 0,
@@ -33,7 +33,7 @@ void udpRecvHandler() {
     if (bytesReceived == -1) {
         fprintf(stderr, "Error: Failed to receive data\n");
         close(socketfd);
-        return;
+        return NULL;
     }
     printf("Start message from %s: %s\n", inet_ntoa(clientAddr.sin_addr),
            buffer);
@@ -57,13 +57,13 @@ void udpRecvHandler() {
     robotCtrlData.iparams[0] = 1;
     robot_control_t_publish(lcm, "ROBOT_CONTROL", &robotCtrlData);
     freeRobotCtrl(&robotCtrlData);
-    // 随即下达30号命令，开始建图
-    robotCtrlInit(&robotCtrlData, 0, 30, 0, 1, 1, 0, 0);
-    robotCtrlData.dparams[0] = 0.05;
-    robotCtrlData.niparams = 1;
-    robotCtrlData.iparams[0] = 1;
-    robot_control_t_publish(lcm, "ROBOT_CONTROL", &robotCtrlData);
-    freeRobotCtrl(&robotCtrlData);
+    // // 随即下达30号命令，开始建图
+    // robotCtrlInit(&robotCtrlData, 0, 30, 0, 1, 1, 0, 0);
+    // robotCtrlData.dparams[0] = 0.05;
+    // robotCtrlData.niparams = 1;
+    // robotCtrlData.iparams[0] = 1;
+    // robot_control_t_publish(lcm, "ROBOT_CONTROL", &robotCtrlData);
+    // freeRobotCtrl(&robotCtrlData);
 
     /*
      * 开始接收来自手机端的命令
@@ -99,13 +99,13 @@ void udpRecvHandler() {
     }
 }
 
-void udpSendHandler() {
+void *udpSendHandler(void *args) {
     // 创建UDP套接字
     int sockfd = -1;
     struct sockaddr_in serverAddr;
     if ((sockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
         fprintf(stderr, "Error: Failed to create socket\n");
-        return;
+        return NULL;
     }
 
     memset((char *)&serverAddr, 0, sizeof(serverAddr));
@@ -114,7 +114,7 @@ void udpSendHandler() {
     if (inet_aton(clientIP, &serverAddr.sin_addr) == 0) {
         fprintf(stderr, "Error: Failed to convert IP address\n");
         close(sockfd);
-        return;
+        return NULL;
     }
 
     while (true) {
@@ -124,4 +124,4 @@ void udpSendHandler() {
         pthread_mutex_unlock(&heartBeatMutex);
         sleep(1);
     }
-}
\ No newline at end of file
+}