From 1009af4a3209c95d431bf9ccfad074c99c50e1e3 Mon Sep 17 00:00:00 2001
From: Ubuntu <dennis.devil@gmail.com>
Date: Tue, 1 Apr 2025 15:38:31 +0000
Subject: [PATCH] Fixed camera control related issues and

---
 ai_controller/aienginegimbalserver.cpp | 11 ++++++++---
 ai_controller/aienginegimbalserver.h   |  5 +++--
 ai_controller/src-opi5/image_utils.c   |  2 +-
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/ai_controller/aienginegimbalserver.cpp b/ai_controller/aienginegimbalserver.cpp
index 11b87c4..6b674f1 100644
--- a/ai_controller/aienginegimbalserver.cpp
+++ b/ai_controller/aienginegimbalserver.cpp
@@ -1,9 +1,10 @@
 #include <QDebug>
 #include <QTimer>
+#include <QUdpSocket>
+
 #include "aienginegimbalserver.h"
 #include "aienginegimbalserveractions.h"
 
-
 AiEngineGimbalServer::AiEngineGimbalServer(QObject *parent)
     : QObject{parent}
 {
@@ -31,8 +32,12 @@ AiEngineGimbalServer::AiEngineGimbalServer(QObject *parent)
 
     // Create and bind the new UDP socket for receiving commands
     mReceiveUdpSocket = new QUdpSocket(this);
-    mReceiveUdpSocket->bind(QHostAddress::LocalHost, 45454);
-    
+
+
+//    mReceiveUdpSocket->bind(QHostAddress::LocalHost, 45454);
+    if (!mReceiveUdpSocket->bind(QHostAddress::LocalHost, 45454)) {
+    qDebug() << "Failed to bind UDP socket:" << mReceiveUdpSocket->errorString();
+    }
     // Connect the socket to handle incoming messages
     connect(mReceiveUdpSocket, &QUdpSocket::readyRead, this, &AiEngineGimbalServer::processUdpCommands);
 }
diff --git a/ai_controller/aienginegimbalserver.h b/ai_controller/aienginegimbalserver.h
index 171eec6..e256f93 100644
--- a/ai_controller/aienginegimbalserver.h
+++ b/ai_controller/aienginegimbalserver.h
@@ -35,8 +35,9 @@ private:
     AiEngineGimbalServerUDPResponse mUdpResponse;
     AiEngineGimbalServerActions mActions;
     bool mIsAvailable;
-    QUdpSocket mReceiveUdpSocket; // UDP socket for receiving commands
+    QUdpSocket *mReceiveUdpSocket; // UDP socket for receiving commands
 
 private slots:
-    void processPendingDatagrams(void); // Handles incoming UDP messages
+   // void processPendingDatagrams(void); // Handles incoming UDP messages
+    void processUdpCommands(void);
 };
diff --git a/ai_controller/src-opi5/image_utils.c b/ai_controller/src-opi5/image_utils.c
index b5180a4..1eb93d8 100644
--- a/ai_controller/src-opi5/image_utils.c
+++ b/ai_controller/src-opi5/image_utils.c
@@ -623,7 +623,7 @@ static int convert_image_rga(image_buffer_t* src_img, image_buffer_t* dst_img, i
     if (drect.width != dstWidth || drect.height != dstHeight) {
         im_rect dst_whole_rect = {0, 0, dstWidth, dstHeight};
         int imcolor;
-        char* p_imcolor = &imcolor;
+        int* p_imcolor = &imcolor;
         p_imcolor[0] = color;
         p_imcolor[1] = color;
         p_imcolor[2] = color;