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Fix error when launching the sim

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Also make the parameters WIFI_LOC_PORT and WIFI_REM_PORT work in the sim.
This commit is contained in:
Oleg Kalachev
2026-01-27 16:32:52 +03:00
parent 1ac443d6f8
commit 377b21429b
2 changed files with 11 additions and 8 deletions
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2
gazebo/flix.h
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@@ -9,6 +9,7 @@
#include "quaternion.h" #include "quaternion.h"
#include "Arduino.h" #include "Arduino.h"
#include "wifi.h" #include "wifi.h"
#include "lpf.h"
extern float t, dt; extern float t, dt;
extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode; extern float controlRoll, controlPitch, controlYaw, controlThrottle, controlMode;
@@ -19,6 +20,7 @@ extern float motors[4];
Vector gyro, acc, imuRotation; Vector gyro, acc, imuRotation;
Vector accBias, gyroBias, accScale(1, 1, 1); Vector accBias, gyroBias, accScale(1, 1, 1);
LowPassFilter<Vector> gyroBiasFilter(0);
// declarations // declarations
void step(); void step();

17
gazebo/wifi.h
View File

@@ -11,9 +11,10 @@
#include <sys/poll.h> #include <sys/poll.h>
#include <gazebo/gazebo.hh> #include <gazebo/gazebo.hh>
#define WIFI_UDP_PORT 14580 int wifiMode = 1; // mock
#define WIFI_UDP_REMOTE_PORT 14550 int udpLocalPort = 14580;
#define WIFI_UDP_REMOTE_ADDR "255.255.255.255" int udpRemotePort = 14550;
const char *udpRemoteIP = "255.255.255.255";
int wifiSocket; int wifiSocket;
@@ -22,22 +23,22 @@ void setupWiFi() {
sockaddr_in addr; // local address sockaddr_in addr; // local address
addr.sin_family = AF_INET; addr.sin_family = AF_INET;
addr.sin_addr.s_addr = INADDR_ANY; addr.sin_addr.s_addr = INADDR_ANY;
addr.sin_port = htons(WIFI_UDP_PORT); addr.sin_port = htons(udpLocalPort);
if (bind(wifiSocket, (sockaddr *)&addr, sizeof(addr))) { if (bind(wifiSocket, (sockaddr *)&addr, sizeof(addr))) {
gzerr << "Failed to bind WiFi UDP socket on port " << WIFI_UDP_PORT << std::endl; gzerr << "Failed to bind WiFi UDP socket on port " << udpLocalPort << std::endl;
return; return;
} }
int broadcast = 1; int broadcast = 1;
setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast
gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT << " (remote port " << WIFI_UDP_REMOTE_PORT << ")" << std::endl; gzmsg << "WiFi UDP socket initialized on port " << udpLocalPort << " (remote port " << udpRemotePort << ")" << std::endl;
} }
void sendWiFi(const uint8_t *buf, int len) { void sendWiFi(const uint8_t *buf, int len) {
if (wifiSocket == 0) setupWiFi(); if (wifiSocket == 0) setupWiFi();
sockaddr_in addr; // remote address sockaddr_in addr; // remote address
addr.sin_family = AF_INET; addr.sin_family = AF_INET;
addr.sin_addr.s_addr = inet_addr(WIFI_UDP_REMOTE_ADDR); addr.sin_addr.s_addr = inet_addr(udpRemoteIP);
addr.sin_port = htons(WIFI_UDP_REMOTE_PORT); addr.sin_port = htons(udpRemotePort);
sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr)); sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr));
} }