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mavlink: make broadcast detection Mac compatible

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This adresses that the ifconf interface is a bit different on Mac.
This commit is contained in:
Julian Oes
2016-04-07 15:21:24 +02:00
parent 66567baf89
commit 20cd5f3e76
1 changed files with 64 additions and 14 deletions
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78
src/modules/mavlink/mavlink_main.cpp
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@@ -998,36 +998,86 @@ Mavlink::init_udp()
}
_src_addr.sin_port = htons(_remote_port);
const unsigned MAX_IFREQS = 32;
struct ifreq ifreqs[MAX_IFREQS];
// Find out the required size of the buffer first.
// We can get the number by providing NULL to ifc_req.
struct ifconf ifconf;
memset(&ifconf, 0, sizeof(ifconf));
ifconf.ifc_req = ifreqs;
ifconf.ifc_len = sizeof(ifreqs);
ifconf.ifc_req = NULL;
ifconf.ifc_len = 0;
int ret = ioctl(_socket_fd, SIOCGIFCONF, &ifconf);
if (ret != 0) {
PX4_WARN("getting required buffer size failed");
return;
}
PX4_DEBUG("need to allocate %d bytes", ifconf.ifc_len);
// Allocate buffer as long as needed.
uint8_t ifreqs_buf[ifconf.ifc_len];
memset(ifreqs_buf, 0, ifconf.ifc_len);
ifconf.ifc_req = (struct ifreq *)ifreqs_buf;
ret = ioctl(_socket_fd, SIOCGIFCONF, &ifconf);
if (ret != 0) {
PX4_WARN("getting network config failed");
return;
}
for (int i = 0; i < (ifconf.ifc_len/sizeof(struct ifreq)) && (i < MAX_IFREQS); ++i) {
size_t offset = 0;
// Later used to point to next network interface in buffer.
struct ifreq *cur_ifreq = (struct ifreq *)&ifreqs_buf[offset];
// The ugly `for` construct is used because it allows to use
// `continue` and `break`.
for (;
offset < ifconf.ifc_len;
#if defined(__APPLE__) && defined(__MACH__)
// On Mac, to get to next entry in buffer, jump by the size of
// the interface name size plus whatever is greater, either the
// sizeof sockaddr or ifr_addr.sa_len.
offset += IF_NAMESIZE
+ (sizeof(struct sockaddr) > cur_ifreq->ifr_addr.sa_len ?
sizeof(struct sockaddr) :
cur_ifreq->ifr_addr.sa_len)
#else
// On Linux, it's much easier to traverse the buffer, every entry
// has the constant length.
offset += sizeof(struct ifreq)
#endif
) {
// Point to next network interface in buffer.
cur_ifreq = (struct ifreq *)&ifreqs_buf[offset];
#if defined(__APPLE__) && defined(__MACH__)
if (cur_ifreq->ifr_addr.sa_len == 0) {
// The current entry seems zero, we're probably through.
break;
}
#endif
PX4_DEBUG("looking at %s", cur_ifreq->ifr_name);
// ignore loopback network
if (strcmp(ifreqs[i].ifr_name, "lo") == 0) {
if (strcmp(cur_ifreq->ifr_name, "lo") == 0 ||
strcmp(cur_ifreq->ifr_name, "lo0") == 0 ||
strcmp(cur_ifreq->ifr_name, "lo1") == 0 ||
strcmp(cur_ifreq->ifr_name, "lo2") == 0) {
PX4_DEBUG("skipping loopback");
continue;
}
struct ifreq bc_ifreq;
memset(&bc_ifreq, 0, sizeof(bc_ifreq));
strncpy(bc_ifreq.ifr_name, ifreqs[i].ifr_name, IF_NAMESIZE);
strncpy(bc_ifreq.ifr_name, cur_ifreq->ifr_name, IF_NAMESIZE);
ret = ioctl(_socket_fd, SIOCGIFBRDADDR, &bc_ifreq);
if (ret != 0) {
PX4_WARN("getting broadcast address failed");
return;
PX4_INFO("getting broadcast address failed for %s", cur_ifreq->ifr_name);
continue;
}
struct in_addr &sin_addr = ((struct sockaddr_in *)&ifreqs[i].ifr_addr)->sin_addr;
struct in_addr &sin_addr = ((struct sockaddr_in *)&cur_ifreq->ifr_addr)->sin_addr;
// Accept network interfaces to local network only. This means it's an IP starting with:
// 192./172./10.
@@ -1040,7 +1090,7 @@ Mavlink::init_udp()
}
if (!_broadcast_address_found) {
PX4_INFO("using network interface %s, IP: %s", ifreqs[i].ifr_name, inet_ntoa(sin_addr));
PX4_INFO("using network interface %s, IP: %s", cur_ifreq->ifr_name, inet_ntoa(sin_addr));
struct in_addr &bc_addr = ((struct sockaddr_in *)&bc_ifreq.ifr_broadaddr)->sin_addr;
PX4_INFO("with broadcast IP: %s", inet_ntoa(bc_addr));
@@ -1051,7 +1101,7 @@ Mavlink::init_udp()
_broadcast_address_found = true;
} else {
PX4_INFO("ignoring additional network interface %s, IP: %s",
ifreqs[i].ifr_name, inet_ntoa(sin_addr));
cur_ifreq->ifr_name, inet_ntoa(sin_addr));
}
}