优化：

1. 通过内存池解决丢帧问题；
2. 解析惯导卫星个数，并通过socket发送给psdk；
3. 取消通过sbg卫星时间设置linux系统时间，此功能交给psdk做；

Header_Files/MemoryPool.h

@@ -0,0 +1,98 @@
+/*-
+ * Copyright (c) 2013 Cosku Acay, http://www.coskuacay.com
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
+ * IN THE SOFTWARE.
+ */
+
+#ifndef MEMORY_POOL_H
+#define MEMORY_POOL_H
+
+#include <climits>
+#include <cstddef>
+
+template <typename T, size_t BlockSize = 16368000>
+class MemoryPool
+{
+  public:
+    /* Member types */
+    typedef T               value_type;
+    typedef T*              pointer;
+    typedef T&              reference;
+    typedef const T*        const_pointer;
+    typedef const T&        const_reference;
+    typedef size_t          size_type;
+    typedef ptrdiff_t       difference_type;
+    typedef std::false_type propagate_on_container_copy_assignment;
+    typedef std::true_type  propagate_on_container_move_assignment;
+    typedef std::true_type  propagate_on_container_swap;
+
+    template <typename U> struct rebind {
+      typedef MemoryPool<U> other;
+    };
+
+    /* Member functions */
+    MemoryPool() noexcept;
+    MemoryPool(const MemoryPool& memoryPool) noexcept;
+    MemoryPool(MemoryPool&& memoryPool) noexcept;
+    template <class U> MemoryPool(const MemoryPool<U>& memoryPool) noexcept;
+
+    ~MemoryPool() noexcept;
+
+    MemoryPool& operator=(const MemoryPool& memoryPool) = delete;
+    MemoryPool& operator=(MemoryPool&& memoryPool) noexcept;
+
+    pointer address(reference x) const noexcept;
+    const_pointer address(const_reference x) const noexcept;
+
+    // Can only allocate one object at a time. n and hint are ignored
+    pointer allocate(size_type n = 1, const_pointer hint = 0);
+    void deallocate(pointer p, size_type n = 1);
+
+    size_type max_size() const noexcept;
+
+    template <class U, class... Args> void construct(U* p, Args&&... args);
+    template <class U> void destroy(U* p);
+
+    template <class... Args> pointer newElement(Args&&... args);
+    void deleteElement(pointer p);
+
+  private:
+    union Slot_ {
+      value_type element;
+      Slot_* next;
+    };
+
+    typedef char* data_pointer_;
+    typedef Slot_ slot_type_;
+    typedef Slot_* slot_pointer_;
+
+    slot_pointer_ currentBlock_;
+    slot_pointer_ currentSlot_;
+    slot_pointer_ lastSlot_;
+    slot_pointer_ freeSlots_;
+
+    size_type padPointer(data_pointer_ p, size_type align) const noexcept;
+    void allocateBlock();
+
+    static_assert(BlockSize >= 2 * sizeof(slot_type_), "BlockSize too small.");
+};
+
+#include "MemoryPool.tcc"
+
+#endif // MEMORY_POOL_H