Merge branch 'c' of https://106.52.207.92:9103/limingjie/OmniSocketGo into c

include/gps_buffer.h

@@ -3,7 +3,12 @@
 
 #include <stdint.h>
 
-uint64_t get_latest_gps_for_video(void);
+typedef struct gps_video_sample {
+    double latitude;
+    double longitude;
+} gps_video_sample_t;
+
+gps_video_sample_t get_latest_gps_for_video(void);
 
 
 int gps_buffer_init(const char* host);

include/video_pipeline.h

@@ -14,9 +14,14 @@ extern "C" {
 
 typedef struct video_pipeline_packet_metadata {
     uint64_t timestamp_ms;
-    uint64_t gps_data;
+    double latitude;
+    double longitude;
 } video_pipeline_packet_metadata_t;
 
+#if defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
+_Static_assert(sizeof(video_pipeline_packet_metadata_t) == 24, "video trailer metadata must be 24 bytes");
+#endif
+
 typedef struct video_pipeline_config {
     const char *camera_device;
     const char *server_addr;

src/gps_buffer.c

@@ -10,25 +10,55 @@
 #include <errno.h> // 确保包含 errno
 
 // 全局共享变量
-static volatile uint64_t g_current_gps_data = 0;
+static gps_video_sample_t g_current_gps_data = {0.0, 0.0};
 static volatile int g_running = 0;
 static pthread_t g_gps_thread;
+static pthread_mutex_t g_gps_mutex = PTHREAD_MUTEX_INITIALIZER;
 
-// 将经纬度打包进 uint64_t
-static uint64_t pack_gps(double latitude, double longitude) {
+static double normalize_coordinate(double coordinate) {
+    return round(coordinate * 1000000.0) / 1000000.0;
+}
+
+static void store_gps(double latitude, double longitude) {
+    pthread_mutex_lock(&g_gps_mutex);
+    g_current_gps_data.latitude = normalize_coordinate(latitude);
+    g_current_gps_data.longitude = normalize_coordinate(longitude);
+    pthread_mutex_unlock(&g_gps_mutex);
+}
+
+static void clear_gps(void) {
+    pthread_mutex_lock(&g_gps_mutex);
+    g_current_gps_data.latitude = 0.0;
+    g_current_gps_data.longitude = 0.0;
+    pthread_mutex_unlock(&g_gps_mutex);
+}
+
+static gps_video_sample_t load_gps(void) {
+    gps_video_sample_t sample;
+
+    pthread_mutex_lock(&g_gps_mutex);
+    sample = g_current_gps_data;
+    pthread_mutex_unlock(&g_gps_mutex);
+    return sample;
+}
+
+// 将经纬度规范化为 float，保留 6 位小数。
+static int normalize_gps(float latitude, float longitude, gps_video_sample_t* sample) {
     if (!isfinite(latitude) || !isfinite(longitude)) {
-        return 0;
+        return -1;
     }
     // 过滤掉 0,0 这种无效坐标
     if (fabs(latitude) < 1e-6 && fabs(longitude) < 1e-6) {
-        return 0;
+        return -1;
     }
 
-    // 转换为整数微度 (micro-degrees)
-    int32_t lat_i = (int32_t)(latitude * 1000000.0);
-    int32_t lon_i = (int32_t)(longitude * 1000000.0);
+    if (sample == NULL) {
+        return -1;
+    }
 
-    return ((uint64_t)(uint32_t)lat_i << 32) | (uint64_t)(uint32_t)lon_i;
+    sample->latitude = normalize_coordinate(latitude);
+    sample->longitude = normalize_coordinate(longitude);
+    return 0;
 }
 
 // =================================================================
@@ -76,13 +106,8 @@ static int json_extract_double(const char* json, const char* key, double* value)
         return 0; // 键不存在
     }
 
-    // 处理负号
-    if (*position == '-') {
-        position++;
-    }
-
-    // 确保当前位置是数字
-    if (!(*position >= '0' && *position <= '9')) {
+    // 确保当前位置是数字或负号
+    if (*position != '-' && !(*position >= '0' && *position <= '9')) {
         return 0;
     }
 
@@ -209,8 +234,12 @@ void* gps_update_thread(void* arg) {
                     int got_lon = json_extract_double(start, "lon", &lon);
                     
                     if (got_lat && got_lon) {
-                        // 4. 更新全局共享变量 (原子操作)
-                        g_current_gps_data = pack_gps(lat, lon);
+                        gps_video_sample_t sample;
+
+                        // 4. 更新全局共享变量，使用 double 直接携带经纬度。
+                        if (normalize_gps(lat, lon, &sample) == 0) {
+                            store_gps(sample.latitude, sample.longitude);
+                        }
                         // 调试：取消注释可查看实时经纬度
                         // printf("更新GPS: lat=%.6f, lon=%.6f\n", lat, lon);
                     }
@@ -246,20 +275,20 @@ void* gps_update_thread(void* arg) {
 // =================================================================
 // 接口函数实现
 // =================================================================
-uint64_t get_latest_gps_for_video(void) {
-    return g_current_gps_data; 
+gps_video_sample_t get_latest_gps_for_video(void) {
+    return load_gps();
 }
 
 int gps_buffer_init(const char* host) {
     if (g_running) return 0;
     
     g_running = 1;
-    g_current_gps_data = 0;
+    clear_gps();
     pthread_attr_t attr;
     pthread_attr_init(&attr);
     pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_DETACHED);
     // 创建后台线程
-    if (pthread_create(&g_gps_thread, NULL, gps_update_thread, (void*)host) != 0) {
+    if (pthread_create(&g_gps_thread, &attr, gps_update_thread, (void*)host) != 0) {
         g_running = 0;
         pthread_attr_destroy(&attr); // 清理属性
         perror("无法创建 GPS 线程");

src/video_pipeline.c

@@ -930,8 +930,13 @@ int video_pipeline_run(const video_pipeline_config_t *config, video_pipeline_sta
             send_start_ms = encode_end_ms;
         }
 
+        {
+            gps_video_sample_t gps_sample = get_latest_gps_for_video();
+
             packet_metadata.timestamp_ms = (uint64_t) get_realtime_ms();
-        packet_metadata.gps_data = get_latest_gps_for_video();
+            packet_metadata.latitude = gps_sample.latitude;
+            packet_metadata.longitude = gps_sample.longitude;
+        }
 
         kcp_client_runtime_stats_snapshot(sender.client, &transport_stats);
         if (video_sender_hard_backpressure_active(config, &transport_stats)) {