From da90f98fa9d1a8c3849020f6a2df524e45ddd636 Mon Sep 17 00:00:00 2001
From: zjk <1553836110@qq.com>
Date: Wed, 19 Aug 2026 14:06:03 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=EF=BC=9AUDP=20=E6=8E=A5?=
 =?UTF-8?q?=E6=94=B6=E9=98=9F=E5=88=97=E6=95=B0=E6=8D=AE=E7=AB=9E=E4=BA=89?=
 =?UTF-8?q?=E5=AF=BC=E8=87=B4=20SIGSEGV=20=E5=B4=A9=E6=BA=83?=
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pushMsgToQueue 在监听线程向各接收队列 push 时无锁，
而 clearMsgQueue/popMsgFormQueue 在 MOOS 主线程持锁 pop，
并发操作同一 deque 造成堆内存损坏，收到 140 CCU UDP 消息后崩溃。

为 6 处 push 补上与 clear/pop 对应的互斥锁
（m_mutexCcuState/CcuSetParm/DisHighVolBus/DisHighAVolBus/
 DisHighBVolBus/DisLowBus），修复数据竞争。
---
 src/pPowerManger/udpcomm/udpComm.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/pPowerManger/udpcomm/udpComm.cpp b/src/pPowerManger/udpcomm/udpComm.cpp
index e5e13a0..f269b24 100644
--- a/src/pPowerManger/udpcomm/udpComm.cpp
+++ b/src/pPowerManger/udpcomm/udpComm.cpp
@@ -178,6 +178,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
       if(m_qReceiveCcuStateBuffer.size()<QUENUE_SIZE)
       {
         double time = MOOSTime(false);
+        std::lock_guard<std::mutex> lock(m_mutexCcuState);
         m_qReceiveCcuStateBuffer.push(std::make_pair(time, s));
       }
       else
@@ -201,6 +202,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
       if(m_qReceiveCcuSetParmBuffer.size()<QUENUE_SIZE)
       {
         double time = MOOSTime(false);
+        std::lock_guard<std::mutex> lock(m_mutexCcuSetParm);
         m_qReceiveCcuSetParmBuffer.push(std::make_pair(time, s));
       }
       else
@@ -224,6 +226,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
       if(m_qReceiveDisHighVolBusBuffer.size()<QUENUE_SIZE)
       {
         double time = MOOSTime(false);
+        std::lock_guard<std::mutex> lock(m_mutexDisHighVolBus);
         m_qReceiveDisHighVolBusBuffer.push(std::make_pair(time, s));
       }
       else 
@@ -247,6 +250,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
       if(m_qReceiveDisHighAVolBusBuffer.size()<QUENUE_SIZE)
         {
           double time = MOOSTime(false);
+          std::lock_guard<std::mutex> lock(m_mutexDisHighAVolBus);
           m_qReceiveDisHighAVolBusBuffer.push(std::make_pair(time, s));
         }
       else
@@ -270,6 +274,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
       if(m_qReceiveDisHighBVolBusBuffer.size()<QUENUE_SIZE)
       {
           double time = MOOSTime(false);
+          std::lock_guard<std::mutex> lock(m_mutexDisHighBVolBus);
           m_qReceiveDisHighBVolBusBuffer.push(std::make_pair(time, s));
       }
       else
@@ -293,6 +298,7 @@ bool udpComm::pushMsgToQueue(unsigned char *m)
       if(m_qReceiveDisLowBusBuffer.size()<QUENUE_SIZE)
        {
           double time = MOOSTime(false);
+          std::lock_guard<std::mutex> lock(m_mutexDisLowBus);
           m_qReceiveDisLowBusBuffer.push(std::make_pair(time, s));
        }
       else