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Multicast functionality for udp_drivers #95

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Multicast functionality for udp_drivers #95

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1 change: 1 addition & 0 deletions udp_driver/include/udp_driver/udp_socket.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ class UdpSocket
void close();
bool isOpen() const;
void bind();
void joinMulticast(std::string & multicast_addr);

/*
* Blocking Send Operation
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4 changes: 4 additions & 0 deletions udp_driver/params/example_udp_multicast_params.yml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
/**:
ros__parameters:
ip: "239.255.0.1"
port: 22017
1 change: 1 addition & 0 deletions udp_driver/src/udp_receiver_node.cpp
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Expand Up @@ -62,6 +62,7 @@ LNI::CallbackReturn UdpReceiverNode::on_configure(const lc::State & state)
m_udp_driver->init_receiver(m_ip, m_port);
m_udp_driver->receiver()->open();
m_udp_driver->receiver()->bind();
m_udp_driver->receiver()->joinMulticast(m_ip);
m_udp_driver->receiver()->asyncReceive(
std::bind(&UdpReceiverNode::receiver_callback, this, std::placeholders::_1));
} catch (const std::exception & ex) {
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13 changes: 13 additions & 0 deletions udp_driver/src/udp_socket.cpp
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Expand Up @@ -192,5 +192,18 @@ void UdpSocket::bind()
m_udp_socket.bind(m_host_endpoint);
}

void UdpSocket::joinMulticast(std::string & multicast_addr)
{
if (address::from_string(multicast_addr).is_v4() &&
address::from_string(multicast_addr).to_v4().is_multicast())
{
m_udp_socket.set_option(
asio::ip::multicast::join_group(address::from_string(multicast_addr).to_v4()));
RCLCPP_INFO(
rclcpp::get_logger("UdpSocket::multicast"),
"Joined multicast group: %s", multicast_addr.c_str());
}
}

} // namespace udp_driver
} // namespace drivers