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Catch port bind error in simulation

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This commit is contained in:
Oleg Kalachev 2025-01-17 17:38:47 +03:00
parent b19270f14e
commit 6028b8a617
1 changed files with 4 additions and 1 deletions
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5
gazebo/wifi.h
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@ -22,7 +22,10 @@ void setupWiFi() {
addr.sin_family = AF_INET;
addr.sin_addr.s_addr = INADDR_ANY;
addr.sin_port = htons(WIFI_UDP_PORT_LOCAL);
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_LOCAL << std::endl;
return;
}
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;