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[tmtc] add -udp_broadcast option to link

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and use it in NPS sim session.

Should fix #1404 with multiple vehicles:
When simulating multiple vehicles with NPS (which now uses UDP), link needs to send the messages via broadcast so that every sim agent gets the messages.
This commit is contained in:
Felix Ruess
2015-11-18 15:38:07 +01:00
parent 6e204035bd
commit 4399c8c5d6
2 changed files with 14 additions and 2 deletions
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sw/ground_segment/tmtc/link.ml
+13 -1
View File
@@ -62,6 +62,7 @@ let ac_info = ref true
(* Listening on an UDP port *)
let udp = ref false
let udp_broadcast = ref false
let udp_uplink_port = ref 4243
(* Enable trafic statistics on standard output *)
@@ -127,6 +128,12 @@ let update_status = fun ?udp_peername ac_id buf_size is_pong ->
let status =
try Hashtbl.find statuss ac_id with Not_found ->
let s = { initial_status with udp_peername = udp_peername } in
begin
match s.udp_peername with
Some (Unix.ADDR_INET (peername, port)) ->
Debug.call 'b' (fun f -> fprintf f "Adding AC %i with udp_peername %s port %i\n" ac_id (Unix.string_of_inet_addr peername) port)
| _ -> Debug.call 'b' (fun f -> fprintf f "Adding AC %i\n" ac_id)
end;
Hashtbl.add statuss ac_id s;
s in
status.rx_byte <- status.rx_byte + buf_size;
@@ -319,7 +326,9 @@ end (** XBee module *)
let udp_send = fun fd payload peername ->
let buf = Pprz.Transport.packet payload in
let len = String.length buf in
let sockaddr = Unix.ADDR_INET (peername, !udp_uplink_port) in
let addr = if !udp_broadcast then (Unix.inet_addr_of_string "127.255.255.255") else peername in
Debug.call 'u' (fun f -> fprintf f "udp_send to %s port %i\n" (Unix.string_of_inet_addr addr) !udp_uplink_port);
let sockaddr = Unix.ADDR_INET (addr, !udp_uplink_port) in
let n = Unix.sendto fd buf 0 len [] sockaddr in
assert (n = len)
@@ -484,6 +493,7 @@ let () =
"-udp", Arg.Set udp, "Listen a UDP connection on <udp_port>";
"-udp_port", Arg.Set_int udp_port, (sprintf "<UDP port> Default is %d" !udp_port);
"-udp_uplink_port", Arg.Set_int udp_uplink_port, (sprintf "<UDP uplink port> Default is %d" !udp_uplink_port);
"-udp_broadcast", Arg.Set udp_broadcast, "Broadcast on 127.255.255.255, e.g. for multiple simulated aircrafts";
"-uplink", Arg.Set uplink, (sprintf "Deprecated (now default)");
"-xbee_addr", Arg.Set_int XB.my_addr, (sprintf "<my_addr> (%d)" !XB.my_addr);
"-xbee_retries", Arg.Set_int XB.my_addr, (sprintf "<nb retries> (%d)" !XB.nb_retries);
@@ -513,6 +523,8 @@ let () =
if !udp then begin
let sockaddr = Unix.ADDR_INET (Unix.inet_addr_any, !udp_port)
and socket = Unix.socket Unix.PF_INET Unix.SOCK_DGRAM 0 in
if !udp_broadcast then
Unix.setsockopt socket Unix.SO_BROADCAST true;
Unix.bind socket sockaddr;
socket
end else if !audio then
sw/supervision/pc_control_panel.ml
+1 -1
View File
@@ -212,7 +212,7 @@ let supervision = fun ?file gui log (ac_combo : Gtk_tools.combo) (target_combo :
run_and_monitor ?file gui log "GCS" "";
run_and_monitor ?file gui log "Server" "-n";
if sim_type = "nps" then
run_and_monitor ?file gui log "Data Link" "-udp"
run_and_monitor ?file gui log "Data Link" "-udp -udp_broadcast"
end
in