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48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
// Copyright (c) 2023 Oleg Kalachev <okalachev@gmail.com>
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// Repository: https://github.com/okalachev/flix
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// sendWiFi and receiveWiFi implementations for the simulation
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#include <arpa/inet.h>
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#include <netinet/in.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <unistd.h>
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#include <sys/poll.h>
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#include <gazebo/gazebo.hh>
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#define WIFI_UDP_PORT 14580
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#define WIFI_UDP_REMOTE_PORT 14550
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int wifiSocket;
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void setupWiFi() {
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wifiSocket = socket(AF_INET, SOCK_DGRAM, 0);
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sockaddr_in addr; // local address
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addr.sin_family = AF_INET;
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addr.sin_addr.s_addr = INADDR_ANY;
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addr.sin_port = htons(WIFI_UDP_PORT);
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if (bind(wifiSocket, (sockaddr *)&addr, sizeof(addr))) {
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gzerr << "Failed to bind WiFi UDP socket on port " << WIFI_UDP_PORT << std::endl;
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return;
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}
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int broadcast = 1;
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setsockopt(wifiSocket, SOL_SOCKET, SO_BROADCAST, &broadcast, sizeof(broadcast)); // enable broadcast
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gzmsg << "WiFi UDP socket initialized on port " << WIFI_UDP_PORT << " (remote port " << WIFI_UDP_REMOTE_PORT << ")" << std::endl;
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}
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void sendWiFi(const uint8_t *buf, int len) {
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if (wifiSocket == 0) setupWiFi();
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sockaddr_in addr; // remote address
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addr.sin_family = AF_INET;
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addr.sin_addr.s_addr = INADDR_BROADCAST; // send UDP broadcast
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addr.sin_port = htons(WIFI_UDP_REMOTE_PORT);
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sendto(wifiSocket, buf, len, 0, (sockaddr *)&addr, sizeof(addr));
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}
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int receiveWiFi(uint8_t *buf, int len) {
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struct pollfd pfd = { .fd = wifiSocket, .events = POLLIN };
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if (poll(&pfd, 1, 0) <= 0) return 0; // check if there is data to read
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return recv(wifiSocket, buf, len, 0);
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}
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