metartc5_jz源码阅读-udp->receive

之前在metartc5_jz源码阅读-yang_run_rtcudp_thread-CSDN博客中说到:

//调用udp的receive方法将读取的buffer和udp->user传入。
if (udp->receive)	udp->receive(buffer, len, udp->user);

这个函数在以下代码中已经设置执行函数:

session->context.udp->session.receive = g_session_receive;
void g_session_receive(char *data, int32_t nb_data, void *user) {
	if (user == NULL)		return;
	//让RtcConnection执行receive方法,传入RtcSession,data和datasize
	YangRtcConnection *conn = (YangRtcConnection*) user;
	conn->receive(conn->session,data,nb_data);
}

以下代码设置了conn->receive的实际执行函数

conn->receive=yang_rtcconn_receive;

 

 

 

void PID_Parameter_Init(PID *sptr) { sptr->SumError = 0; sptr->LastError = 0; sptr->PrevError = 0; sptr->LastData = 0; } int PID_Realize(PID *sptr, float *PID, int NowData, int Point) { int Realize; sptr->Dis_Err = Point - NowData; sptr->SumError += PID[KI] * sptr->Dis_Err; if (sptr->SumError >= PID[KT]) { sptr->SumError = PID[KT]; } else if (sptr->SumError <= -PID[KT]) { sptr->SumError = -PID[KT]; } Realize = PID[KP] * sptr->Dis_Err + sptr->SumError + PID[KD] *(sptr->Dis_Err - sptr->LastError); // + PID[KB] * ( NowData- sptr->LastData); sptr->PrevError = sptr->LastError; sptr->LastError = sptr->Dis_Err; sptr->LastData = NowData; return Realize; } int PID_Increase(PID *sptr, float *PID, int NowData, int Point) { int iError, Increase; iError = Point - NowData; Increase = PID[KP] * (iError - sptr->LastError) + PID[KI] * iError + PID[KD] * (iError - 2 * sptr->LastError + sptr->PrevError); sptr->PrevError = sptr->LastError; sptr->LastError = iError; sptr->LastData = NowData; return Increase; } Left_Acc = templ_pluse - Left_Old; Right_Acc = tempr_pluse - Right_Old; if (Left_Acc > 50) { Left_Old = Left_Old + 50; templ_pluse = Left_Old; } else if (Left_Acc < -50) { Left_Old = Left_Old - 50; templ_pluse = Left_Old; } else { templ_pluse = Left_Old; } if (Right_Acc > 50) { Right_Old = Right_Old + 50; tempr_pluse = Right_Old; } else if (Right_Acc < -50) { Right_Old = Right_Old - 50; tempr_pluse = Right_Old; } else { tempr_pluse = Right_Old; } RealSpeed_Old = ZJZ; ZJZ = (templ_pluse + tempr_pluse) * 0.5;
07-15
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