mirror of
https://github.com/okalachev/flix.git
synced 2025-07-27 17:49:33 +00:00
45 lines
1.4 KiB
C++
45 lines
1.4 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
|
|
// Repository: https://github.com/okalachev/flix
|
|
|
|
// sendWiFi and receiveWiFi implementations for the simulation
|
|
|
|
#include <arpa/inet.h>
|
|
#include <netinet/in.h>
|
|
#include <sys/types.h>
|
|
#include <sys/socket.h>
|
|
#include <unistd.h>
|
|
#include <sys/poll.h>
|
|
#include <gazebo/gazebo.hh>
|
|
|
|
#define WIFI_UDP_PORT_LOCAL 14580
|
|
#define WIFI_UDP_PORT_REMOTE 14550
|
|
|
|
int wifiSocket;
|
|
|
|
void setupWiFi() {
|
|
wifiSocket = socket(AF_INET, SOCK_DGRAM, 0);
|
|
sockaddr_in addr;
|
|
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));
|
|
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 << std::endl;
|
|
}
|
|
|
|
void sendWiFi(const uint8_t *buf, int len) {
|
|
if (wifiSocket == 0) setupWiFi();
|
|
sockaddr_in addr;
|
|
addr.sin_family = AF_INET;
|
|
addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
|
|
addr.sin_port = htons(WIFI_UDP_PORT_REMOTE);
|
|
sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr));
|
|
}
|
|
|
|
int receiveWiFi(uint8_t *buf, int len) {
|
|
struct pollfd pfd = { .fd = wifiSocket, .events = POLLIN };
|
|
if (poll(&pfd, 1, 0) <= 0) return 0; // check if there is data to read
|
|
return recv(wifiSocket, buf, len, 0);
|
|
}
|