From 287c41624748910f7a5249aff93f74236f86e9c4 Mon Sep 17 00:00:00 2001
From: SikongJueluo <selfconfusion@gmail.com>
Date: Thu, 3 Jul 2025 19:30:17 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E8=B0=83=E6=95=B4Camera=E7=9A=84taskID?=
 =?UTF-8?q?=EF=BC=8C=E4=BD=BF=E5=85=B6=E8=83=BD=E5=A4=9F=E6=AD=A3=E5=B8=B8?=
 =?UTF-8?q?=E6=8E=A5=E5=8F=97=E6=95=B0=E6=8D=AE?=
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---
 server/src/Peripherals/CameraClient.cs | 4 ++--
 server/src/UdpClientPool.cs            | 9 +++------
 2 files changed, 5 insertions(+), 8 deletions(-)

diff --git a/server/src/Peripherals/CameraClient.cs b/server/src/Peripherals/CameraClient.cs
index ef65c6b..dc63b4a 100644
--- a/server/src/Peripherals/CameraClient.cs
+++ b/server/src/Peripherals/CameraClient.cs
@@ -42,14 +42,14 @@ class Camera
     public async ValueTask<Result<byte[]>> ReadFrame()
     {
         // 清除UDP服务器接收缓冲区
-        await MsgBus.UDPServer.ClearUDPData(this.address, 3);
+        await MsgBus.UDPServer.ClearUDPData(this.address, 2);
 
         logger.Trace($"Clear up udp server {this.address} receive data");
 
         // 使用UDPClientPool读取图像帧数据
         var result = await UDPClientPool.ReadAddrBytes(
             this.ep,
-            3, // taskID
+            2, // taskID
             CameraAddr.Base,
             (int)CameraAddr.FrameLength,
             this.timeout);
diff --git a/server/src/UdpClientPool.cs b/server/src/UdpClientPool.cs
index 57e923a..9872408 100644
--- a/server/src/UdpClientPool.cs
+++ b/server/src/UdpClientPool.cs
@@ -323,7 +323,6 @@ public class UDPClientPool
 
         opts.BurstType = BurstType.FixedBurst;
         opts.CommandID = Convert.ToByte(taskID);
-        opts.Address = devAddr;
         opts.IsWrite = false;
 
         // Check Msg Bus
@@ -332,8 +331,8 @@ public class UDPClientPool
 
         // Calculate read times and segments
         var maxBytesPerRead = 256 * (32 / 8); // 1024 bytes per read
-        var hasRest = dataLength % maxBytesPerRead != 0;
-        var readTimes = hasRest ?
+        var restBytes = dataLength % maxBytesPerRead;
+        var readTimes = restBytes != 0 ?
             dataLength / maxBytesPerRead + 1 :
             dataLength / maxBytesPerRead;
 
@@ -341,9 +340,7 @@ public class UDPClientPool
         {
             // Calculate current segment size
             var isLastSegment = i == readTimes - 1;
-            var currentSegmentSize = isLastSegment && hasRest ?
-                dataLength % maxBytesPerRead :
-                maxBytesPerRead;
+            var currentSegmentSize = isLastSegment ? restBytes : maxBytesPerRead;
 
             // Set burst length (in 32-bit words)
             opts.BurstLength = (byte)(currentSegmentSize / 4 - 1);