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SITL: use sendto() in CRRCSim

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this makes us robust to restart of client or server
This commit is contained in:
Andrew Tridgell 2015-05-22 16:05:48 +10:00
parent 6cbd291dd2
commit 60221f5e9c
1 changed files with 2 additions and 6 deletions
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8
libraries/SITL/SIM_CRRCSim.cpp
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@ -38,10 +38,6 @@ CRRCSim::CRRCSim(const char *home_str, const char *frame_str) :
sock.bind("127.0.0.1", 9003); sock.bind("127.0.0.1", 9003);
sock.reuseaddress(); sock.reuseaddress();
if (!sock.connect("127.0.0.1", 9002)) {
hal.scheduler->panic(PSTR("Unable to connect to CRRCSim on port 9002"));
}
sock.set_blocking(false); sock.set_blocking(false);
heli_servos = (strstr(frame_str,"heli") != NULL); heli_servos = (strstr(frame_str,"heli") != NULL);
} }
@ -69,7 +65,7 @@ void CRRCSim::send_servos_heli(const struct sitl_input &input)
pkt.yaw_rate = constrain_float(yaw_rate, -0.5, 0.5); pkt.yaw_rate = constrain_float(yaw_rate, -0.5, 0.5);
pkt.col_pitch = constrain_float(col_pitch, -0.5, 0.5); pkt.col_pitch = constrain_float(col_pitch, -0.5, 0.5);
sock.send(&pkt, sizeof(pkt)); sock.sendto(&pkt, sizeof(pkt), "127.0.0.1", 9002);
} }
/* /*
@ -89,7 +85,7 @@ void CRRCSim::send_servos_fixed_wing(const struct sitl_input &input)
pkt.yaw_rate = constrain_float(yaw_rate, -0.5, 0.5); pkt.yaw_rate = constrain_float(yaw_rate, -0.5, 0.5);
pkt.col_pitch = 0; pkt.col_pitch = 0;
sock.send(&pkt, sizeof(pkt)); sock.sendto(&pkt, sizeof(pkt), "127.0.0.1", 9002);
} }
/* /*