fix: 调整Camera的taskID，使其能够正常接受数据

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);

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);