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mavlink: fix broadcast on Snapdragon

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Instead of using 255.255.255.255 as the broadcast address, go through
the network interfaces and and try to use a broadcast in the local
network such as 192.168.1.255.
This commit is contained in:
Julian Oes
2016-03-30 17:36:04 +02:00
committed by Lorenz Meier
parent f776a3dc37
commit df24852366
1 changed files with 72 additions and 3 deletions
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src/modules/mavlink/mavlink_main.cpp
+72 -3
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@@ -55,6 +55,10 @@
#include <time.h>
#include <math.h> /* isinf / isnan checks */
#ifdef __PX4_POSIX
#include <net/if.h>
#endif
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
@@ -991,9 +995,74 @@ Mavlink::init_udp()
}
_src_addr.sin_port = htons(_remote_port);
/* default broadcast address */
_bcast_addr.sin_family = AF_INET;
inet_aton("255.255.255.255", &_bcast_addr.sin_addr);
const unsigned MAX_IFREQS = 32;
struct ifreq ifreqs[MAX_IFREQS];
struct ifconf ifconf;
memset(&ifconf, 0, sizeof(ifconf));
ifconf.ifc_req = ifreqs;
ifconf.ifc_len = sizeof(ifreqs);
int ret = ioctl(_socket_fd, SIOCGIFCONF, &ifconf);
if (ret != 0) {
PX4_WARN("getting network config failed");
return;
}
bool network_interface_found = false;
for (int i = 0; i < (ifconf.ifc_len/sizeof(struct ifreq)) && (i < MAX_IFREQS); ++i) {
// ignore loopback network
if (strcmp(ifreqs[i].ifr_name, "lo") == 0) {
continue;
}
struct in_addr &sin_addr = ((struct sockaddr_in *)&ifreqs[i].ifr_addr)->sin_addr;
// Accept network interfaces to local network only. This means it's an IP starting with:
// 192./172./10.
// Also see https://tools.ietf.org/html/rfc1918#section-3
uint8_t first_byte = sin_addr.s_addr & 0xFF;
int32_t subnet_mask = 0x0;
if (first_byte == 192) {
// /24
subnet_mask = 0xFFFFFF;
} else if (first_byte != 172) {
// /16
subnet_mask = 0xFFFF;
} else if (first_byte != 10) {
// /8
subnet_mask = 0xFF;
} else {
// Ignore anything else.
continue;
}
if (!network_interface_found) {
PX4_INFO("using network interface %s, IP: %s", ifreqs[i].ifr_name, inet_ntoa(sin_addr));
_bcast_addr.sin_family = AF_INET;
// Assemble the broadcast address. This should be done using the default gateway IP
// instead of the IP. However, for most cases, this should work.
_bcast_addr.sin_addr.s_addr = (~subnet_mask) | sin_addr.s_addr;
PX4_INFO("broadcast address should be: %s", inet_ntoa(_bcast_addr.sin_addr));
network_interface_found = true;
} else {
PX4_INFO("ignoring additional network interface %s, IP: %s",
ifreqs[i].ifr_name, inet_ntoa(sin_addr));
}
}
if (!network_interface_found) {
PX4_WARN("no networking interface for local network found");
return;
}
_bcast_addr.sin_port = htons(_remote_port);
#endif