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Add mavlink start -t partner_ip option to pre-set partner IP.

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This avoids the need to modify the source code to hard-code the IP when
broadcast doesn't work.

Initializing the sockaddr_in structs with memset is unnecessary because
they are value-initialized by the Mavlink constructor.
This commit is contained in:
Kevin Mehall
2016-03-16 11:21:21 -07:00
committed by Lorenz Meier
parent 319fb6b9f9
commit 0cc3b4becc
1 changed files with 16 additions and 7 deletions
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23
src/modules/mavlink/mavlink_main.cpp
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@@ -1029,7 +1029,6 @@ Mavlink::init_udp()
#if defined (__PX4_LINUX) || defined (__PX4_DARWIN) #if defined (__PX4_LINUX) || defined (__PX4_DARWIN)
PX4_INFO("Setting up UDP w/port %d",_network_port); PX4_INFO("Setting up UDP w/port %d",_network_port);
memset((char *)&_myaddr, 0, sizeof(_myaddr));
_myaddr.sin_family = AF_INET; _myaddr.sin_family = AF_INET;
_myaddr.sin_addr.s_addr = htonl(INADDR_ANY); _myaddr.sin_addr.s_addr = htonl(INADDR_ANY);
_myaddr.sin_port = htons(_network_port); _myaddr.sin_port = htons(_network_port);
@@ -1051,13 +1050,13 @@ Mavlink::init_udp()
} }
/* set default target address, but not for onboard mode (will be set on first received packet) */ /* set default target address, but not for onboard mode (will be set on first received packet) */
memset((char *)&_src_addr, 0, sizeof(_src_addr)); if (!_src_addr_initialized) {
_src_addr.sin_family = AF_INET; _src_addr.sin_family = AF_INET;
inet_aton("127.0.0.1", &_src_addr.sin_addr); inet_aton("127.0.0.1", &_src_addr.sin_addr);
}
_src_addr.sin_port = htons(_remote_port); _src_addr.sin_port = htons(_remote_port);
/* default broadcast address */ /* default broadcast address */
memset((char *)&_bcast_addr, 0, sizeof(_bcast_addr));
_bcast_addr.sin_family = AF_INET; _bcast_addr.sin_family = AF_INET;
inet_aton("255.255.255.255", &_bcast_addr.sin_addr); inet_aton("255.255.255.255", &_bcast_addr.sin_addr);
_bcast_addr.sin_port = htons(_remote_port); _bcast_addr.sin_port = htons(_remote_port);
@@ -1517,7 +1516,7 @@ Mavlink::task_main(int argc, char *argv[])
char* eptr; char* eptr;
int temp_int_arg; int temp_int_arg;
while ((ch = px4_getopt(argc, argv, "b:r:d:u:o:m:fpvwx", &myoptind, &myoptarg)) != EOF) { while ((ch = px4_getopt(argc, argv, "b:r:d:u:o:m:t:fpvwx", &myoptind, &myoptarg)) != EOF) {
switch (ch) { switch (ch) {
case 'b': case 'b':
_baudrate = strtoul(myoptarg, NULL, 10); _baudrate = strtoul(myoptarg, NULL, 10);
@@ -1567,6 +1566,16 @@ Mavlink::task_main(int argc, char *argv[])
} }
break; break;
case 't':
_src_addr.sin_family = AF_INET;
if (inet_aton(myoptarg, &_src_addr.sin_addr)) {
_src_addr_initialized = true;
} else {
warnx("invalid partner ip '%s'", myoptarg);
err_flag = true;
}
break;
// case 'e': // case 'e':
// mavlink_link_termination_allowed = true; // mavlink_link_termination_allowed = true;
// break; // break;
@@ -2337,7 +2346,7 @@ Mavlink::stream_command(int argc, char *argv[])
static void usage() static void usage()
{ {
warnx("usage: mavlink {start|stop-all|stream} [-d device] [-u network_port] [-o remote_port] [-b baudrate]\n\t[-r rate][-m mode] [-s stream] [-f] [-p] [-v] [-w] [-x]"); warnx("usage: mavlink {start|stop-all|stream} [-d device] [-u network_port] [-o remote_port] [-t partner_ip] [-b baudrate]\n\t[-r rate][-m mode] [-s stream] [-f] [-p] [-v] [-w] [-x]");
} }
int mavlink_main(int argc, char *argv[]) int mavlink_main(int argc, char *argv[])