QT5 UDP通信

#include<QMetaType>
用到的结构体数组
typedef struct _POSITION_CMD
{
    unsigned short	nComm;	
    unsigned char	Type;			
    unsigned char	Cmd;				
    unsigned char	Select;		
    int				EL;				
    int				Az;				
}POSITION_CMD;
Q_DECLARE_METATYPE(POSITION_CMD);


//1.导入QUdpSocket头文件
#include<QUdpSocket>
 2.创建 QUdpSocket 属性
   QUdpSocket *m_udpsocket;
   //构建槽函数，用来接收UDP发送的数据
  public slots:
     void receiveData();
3. new QUdpSocket ()分配内存
  m_udpsocket=new QUdpSocket();
  //绑定目标主机IP地址、目标主机端口号
 m_udpsocket->bind(m_objHost,m_objPort);
//建立连接
connect(m_udpsocket,SIGNAL(readyRead()),this,SLOT(receiveData()));

//4.UDP接收字节数据转换为结构体数据position

void Udp::receiveData()
{
    int iDataLen; //  接收数据
    POSITION_CMD   position;
    memset(&position,0,sizeof (position));//清空数据信息
    QByteArray baRect;
    QHostAddress senderIp;
    quint16 senderPort;

    while (m_udpsocket->hasPendingDatagrams()) {
        iDataLen=int(m_udpsocket->pendingDatagramSize