From 7542ee473c444bcce23074ee2945a09e0f9f02e6 Mon Sep 17 00:00:00 2001
From: walker <shengxuqiang@joylink.club>
Date: Thu, 19 Oct 2023 14:02:20 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9udp=E6=9C=8D=E5=8A=A1?=
 =?UTF-8?q?=E6=9C=AA=E5=90=AF=E5=8A=A8=E7=9B=91=E5=90=AC=E9=97=AE=E9=A2=98?=
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---
 third_party/dynamics/dynamics.go                       | 1 +
 third_party/semi_physical_train/semi_physical_train.go | 1 +
 third_party/udp/udp_server.go                          | 4 +++-
 3 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/third_party/dynamics/dynamics.go b/third_party/dynamics/dynamics.go
index 52d928f..4b18cae 100644
--- a/third_party/dynamics/dynamics.go
+++ b/third_party/dynamics/dynamics.go
@@ -78,6 +78,7 @@ func newDynamics() Dynamics {
 		},
 	}
 	d.trainInfoUdpServer = udp.NewServer(fmt.Sprintf(":%d", config.Config.Dynamics.UdpLocalPort), d.handleDynamicsTrainInfo)
+	d.trainInfoUdpServer.Listen()
 	return d
 }
 
diff --git a/third_party/semi_physical_train/semi_physical_train.go b/third_party/semi_physical_train/semi_physical_train.go
index 3e03f02..606ecfd 100644
--- a/third_party/semi_physical_train/semi_physical_train.go
+++ b/third_party/semi_physical_train/semi_physical_train.go
@@ -49,6 +49,7 @@ func newSemiPhysicalTrain() SemiPhysicalTrain {
 		trainSpeedInfoUdpClient: udp.NewClient("127.0.0.1:7777"),
 	}
 	s.trainControlUdpServer = udp.NewServer(fmt.Sprintf(":%d", config.Config.Dynamics.UdpLocalPort), s.handleTrainControlMsg)
+	s.trainControlUdpServer.Listen()
 	return s
 }
 
diff --git a/third_party/udp/udp_server.go b/third_party/udp/udp_server.go
index 3947246..9566798 100644
--- a/third_party/udp/udp_server.go
+++ b/third_party/udp/udp_server.go
@@ -3,6 +3,7 @@ package udp
 import (
 	"log/slog"
 	"net"
+	"runtime/debug"
 )
 
 type UdpServer interface {
@@ -54,7 +55,8 @@ func (s *server) listenAndHandle() {
 func (s *server) handle(b []byte) {
 	defer func() {
 		if err := recover(); err != nil {
-			slog.Error("udp server handle error", err)
+			slog.Error("udp server handle error", "error", err, "stack", string(debug.Stack()))
+			debug.PrintStack()
 		}
 	}()
 	// slog.Info("udp server handle", "msg", string(b))