microdds_client: remove multi-instances supports, add agent IP as PX4 parameter

- multi-instances support is removed from the parameter definitions.

- XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used.
The parameter is used by default if the module is started without the -h argument.

- XRCE_DDS_PRT allows to define the agent listning udp port when the
udp transport is uded. The parameter is used by default if the module is started
without the -p argument.

- Tools/convert_ip.py assists in converting ips in decimal dot notation into int32
notation.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>

Tools/convert_ip.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+"""
+Converts IP address given in decimal dot notation to int32 to be used in XRCE_DDS_0_CFG parameter
+and vice-versa
+
+@author: Beniamino Pozzan (beniamino.pozzan@phd.unipd.it)
+"""
+
+
+import argparse
+
+parser = argparse.ArgumentParser(
+    prog = 'convert_ip',
+    description = 'converts IP to int32 and viceversa'
+    )
+parser.add_argument('input',
+                    type=str,
+                    help='IP address to convert')
+parser.add_argument('-r','--reverse',
+                    action='store_true',
+                    help='converts from int32 to dot decimal')
+
+args = parser.parse_args()
+
+if( args.reverse == False ):
+
+    try:
+        ip_parts = [int(x) for x in args.input.split('.')]
+    except:
+        raise ValueError("Not a valid IP")
+    if( len(ip_parts)!=4 ):
+        raise ValueError("Not a valid IP")
+    if( not all(x>=0 and x<255 for x in ip_parts) ):
+        raise ValueError("Not a valid IP")
+
+    ip = (ip_parts[0]<<24) + (ip_parts[1]<<16) + (ip_parts[2]<<8) + ip_parts[3]
+
+    if(ip & 0x80000000):
+        ip = -0x100000000 + ip
+
+    print("the int32 conversion of", args.input, "is")
+    print(ip)
+
+else:
+    try:
+        ip = int(args.input)
+    except:
+        raise ValueError("Not a valid IP")
+    if(ip < 0):
+        ip = ip + 0x100000000
+    print("the decimal dot conversion of", args.input, "is")
+    print('{}.{}.{}.{}'.format(ip>>24, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff))