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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 #50

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Jun 16, 2021
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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 #50

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3 changes: 1 addition & 2 deletions src/device/peripheral/mros-dev/mros-athrill/target/lwip/lwip_linux.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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8 changes: 8 additions & 0 deletions src/device/peripheral/mros-dev/mros-src/comm/cimpl/mros_comm_tcp_server_cimpl.c
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Expand Up @@ -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);
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