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Enabled UDP in NuttX microRTPS build

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Added commandline argument to change microRTPS ip address
This commit is contained in:
Peter van der Perk
2019-10-29 09:08:21 +00:00
committed by Nuno Marques
parent 375fc4a75c
commit 07eb3d301b
5 changed files with 30 additions and 17 deletions
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msg/templates/urtps/microRTPS_transport.cpp
+10 -7
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@@ -535,12 +535,15 @@ bool UART_node::baudrate_to_speed(uint32_t bauds, speed_t *speed)
return true;
}
UDP_node::UDP_node(uint16_t _udp_port_recv, uint16_t _udp_port_send):
UDP_node::UDP_node(const char* _udp_ip, uint16_t _udp_port_recv, uint16_t _udp_port_send):
sender_fd(-1),
receiver_fd(-1),
udp_port_recv(_udp_port_recv),
udp_port_send(_udp_port_send)
{
if (nullptr != _udp_ip) {
strcpy(udp_ip, _udp_ip);
}
}
UDP_node::~UDP_node()
@@ -564,7 +567,7 @@ bool UDP_node::fds_OK()
int UDP_node::init_receiver(uint16_t udp_port)
{
#ifndef __PX4_NUTTX
#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
// udp socket data
memset((char *)&receiver_inaddr, 0, sizeof(receiver_inaddr));
receiver_inaddr.sin_family = AF_INET;
@@ -604,7 +607,7 @@ int UDP_node::init_receiver(uint16_t udp_port)
int UDP_node::init_sender(uint16_t udp_port)
{
#ifndef __PX4_NUTTX
#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
if ((sender_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
#ifndef PX4_ERR
@@ -619,7 +622,7 @@ int UDP_node::init_sender(uint16_t udp_port)
sender_outaddr.sin_family = AF_INET;
sender_outaddr.sin_port = htons(udp_port);
if (inet_aton("127.0.0.1", &sender_outaddr.sin_addr) == 0) {
if (inet_aton(udp_ip, &sender_outaddr.sin_addr) == 0) {
#ifndef PX4_ERR
printf("inet_aton() failed");
#else
@@ -635,7 +638,7 @@ int UDP_node::init_sender(uint16_t udp_port)
uint8_t UDP_node::close()
{
#ifndef __PX4_NUTTX
#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
if (sender_fd != -1) {
#ifndef PX4_WARN
@@ -670,7 +673,7 @@ ssize_t UDP_node::node_read(void *buffer, size_t len)
}
int ret = 0;
#ifndef __PX4_NUTTX
#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
// Blocking call
static socklen_t addrlen = sizeof(receiver_outaddr);
ret = recvfrom(receiver_fd, buffer, len, 0, (struct sockaddr *) &receiver_outaddr, &addrlen);
@@ -685,7 +688,7 @@ ssize_t UDP_node::node_write(void *buffer, size_t len)
}
int ret = 0;
#ifndef __PX4_NUTTX
#if !defined (__PX4_NUTTX) || (defined (CONFIG_NET) && defined (__PX4_NUTTX))
ret = sendto(sender_fd, buffer, len, 0, (struct sockaddr *)&sender_outaddr, sizeof(sender_outaddr));
#endif /* __PX4_NUTTX */
return ret;