Merge pull request #50 from mikoto2000/fix_ros_server_port_open_error

ROSサーバーポートをオープンする際に、タイミングによってはオープンエラーになる問題を修正
toppers · Jun 16, 2021 · 96ecf07 · 96ecf07
2 parents 345ef72 + d02dbb8
commit 96ecf07
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/src/device/peripheral/mros-dev/mros-athrill/target/lwip/lwip_linux.c b/src/device/peripheral/mros-dev/mros-athrill/target/lwip/lwip_linux.c
@@ -45,8 +45,7 @@ int lwip_getsockopt (int s, int level, int optname, void *optval, socklen_t *opt
 
 int lwip_setsockopt (int s, int level, int optname, const void *optval, socklen_t optlen)
 {
-	//TODO
-	return 0;
+	return setsockopt(s, level, optname, optval, optlen);
 }
 
 int lwip_close(int s)

diff --git a/src/device/peripheral/mros-dev/mros-src/comm/cimpl/mros_comm_tcp_server_cimpl.c b/src/device/peripheral/mros-dev/mros-src/comm/cimpl/mros_comm_tcp_server_cimpl.c
@@ -28,6 +28,14 @@ mRosReturnType mros_comm_tcp_server_bind(mRosCommTcpServerType *server, mros_int
     mRosSockAddrInType addr;
 
     mros_comm_inet_local_sockaddr_init(&addr, port);
+
+    int yes = 1;
+    ret = mros_comm_setsockopt(server->socket.sock_fd, SOL_SOCKET, SO_REUSEADDR, (const char *)&yes, sizeof(yes));
+    if (ret != MROS_E_OK) {
+        ROS_ERROR("%s %s() %u ret=%d", __FILE__, __FUNCTION__, __LINE__, ret);
+        return MROS_E_SYSERR;
+    }
+
     ret = mros_comm_bind(server->socket.sock_fd, (mRosSockAddrType*)&addr, sizeof(mRosSockAddrInType));
 	if (ret != MROS_E_OK) {
 		ROS_ERROR("%s %s() %u ret=%d", __FILE__, __FUNCTION__, __LINE__, ret);