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Make wi-fi code more consistent between the firmware and simulation

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This commit is contained in:
Oleg Kalachev 2025-05-10 05:13:57 +03:00
parent a93e046117
commit 114d2305de
2 changed files with 7 additions and 6 deletions
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3
flix/wifi.ino
View File

@ -12,6 +12,7 @@
#define WIFI_SSID "flix"
#define WIFI_PASSWORD "flixwifi"
#define WIFI_UDP_PORT 14550
#define WIFI_UDP_REMOTE_PORT 14550
WiFiUDP udp;
@ -22,7 +23,7 @@ void setupWiFi() {
}
void sendWiFi(const uint8_t *buf, int len) {
udp.beginPacket(WiFi.softAPBroadcastIP(), WIFI_UDP_PORT);
udp.beginPacket(WiFi.softAPBroadcastIP(), WIFI_UDP_REMOTE_PORT);
udp.write(buf, len);
udp.endPacket();
}

10
gazebo/wifi.h
View File

@ -11,8 +11,8 @@
#include <sys/poll.h>
#include <gazebo/gazebo.hh>
#define WIFI_UDP_PORT_LOCAL 14580
#define WIFI_UDP_PORT_REMOTE 14550
#define WIFI_UDP_PORT 14580
#define WIFI_UDP_REMOTE_PORT 14550
int wifiSocket;
@ -21,11 +21,11 @@ void setupWiFi() {
sockaddr_in addr; // local address
addr.sin_family = AF_INET;
addr.sin_addr.s_addr = INADDR_ANY;
addr.sin_port = htons(WIFI_UDP_PORT_LOCAL);
addr.sin_port = htons(WIFI_UDP_PORT);
bind(wifiSocket, (sockaddr *)&addr, sizeof(addr));
int broadcast = 1;
setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast
gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT_LOCAL << " (remote port " << WIFI_UDP_PORT_REMOTE << ")" << std::endl;
gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT << " (remote port " << WIFI_UDP_REMOTE_PORT << ")" << std::endl;
}
void sendWiFi(const uint8_t *buf, int len) {
@ -33,7 +33,7 @@ void sendWiFi(const uint8_t *buf, int len) {
sockaddr_in addr; // remote address
addr.sin_family = AF_INET;
addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
addr.sin_port = htons(WIFI_UDP_PORT_REMOTE);
addr.sin_port = htons(WIFI_UDP_REMOTE_PORT);
sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr));
}