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AP_DDS: Add user-selectable UDP IP

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Tom Pittenger 2023-11-12 17:59:59 -08:00 committed by Tom Pittenger
parent 74f9b74fe7
commit 6cd24bb87b
4 changed files with 16 additions and 3 deletions
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4
libraries/AP_DDS/AP_DDS_Client.cpp
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@ -65,6 +65,10 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
// @User: Standard // @User: Standard
AP_GROUPINFO("_PORT", 2, AP_DDS_Client, udp.port, 2019), AP_GROUPINFO("_PORT", 2, AP_DDS_Client, udp.port, 2019),
// @Group: _IP
// @Path: ../AP_Networking/AP_Networking_address.cpp
AP_SUBGROUPINFO(udp.ip, "_IP", 3, AP_DDS_Client, AP_Networking_IPV4),
#endif #endif
AP_GROUPEND AP_GROUPEND

3
libraries/AP_DDS/AP_DDS_Client.h
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@ -31,6 +31,7 @@
#if AP_DDS_UDP_ENABLED #if AP_DDS_UDP_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket.h>
#include <AP_Networking/AP_Networking_address.h>
#endif #endif
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -138,7 +139,7 @@ private:
struct { struct {
AP_Int32 port; AP_Int32 port;
// UDP endpoint // UDP endpoint
const char* ip = "127.0.0.1"; AP_Networking_IPV4 ip{AP_DDS_DEFAULT_UDP_IP_ADDR};
// UDP Allocation // UDP Allocation
uxrCustomTransport transport; uxrCustomTransport transport;
SocketAPM *socket; SocketAPM *socket;

2
libraries/AP_DDS/AP_DDS_UDP.cpp
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@ -14,7 +14,7 @@ bool AP_DDS_Client::udp_transport_open(uxrCustomTransport *t)
if (sock == nullptr) { if (sock == nullptr) {
return false; return false;
} }
if (!sock->connect(dds->udp.ip, dds->udp.port.get())) { if (!sock->connect(dds->udp.ip.get_str(), dds->udp.port.get())) {
return false; return false;
} }
dds->udp.socket = sock; dds->udp.socket = sock;

10
libraries/AP_DDS/AP_DDS_config.h
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@ -9,10 +9,18 @@
// UDP only on SITL for now // UDP only on SITL for now
#ifndef AP_DDS_UDP_ENABLED #ifndef AP_DDS_UDP_ENABLED
#define AP_DDS_UDP_ENABLED AP_DDS_ENABLED && AP_NETWORKING_SOCKETS_ENABLED #define AP_DDS_UDP_ENABLED AP_DDS_ENABLED && AP_NETWORKING_ENABLED
#endif #endif
#include <AP_VisualOdom/AP_VisualOdom_config.h> #include <AP_VisualOdom/AP_VisualOdom_config.h>
#ifndef AP_DDS_VISUALODOM_ENABLED #ifndef AP_DDS_VISUALODOM_ENABLED
#define AP_DDS_VISUALODOM_ENABLED HAL_VISUALODOM_ENABLED && AP_DDS_ENABLED #define AP_DDS_VISUALODOM_ENABLED HAL_VISUALODOM_ENABLED && AP_DDS_ENABLED
#endif #endif
#ifndef AP_DDS_DEFAULT_UDP_IP_ADDR
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.13.2"
#else
#define AP_DDS_DEFAULT_UDP_IP_ADDR "127.0.0.1"
#endif
#endif