Obbart/universal_robots_ros_driver
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Fixed SO_REUSEADDR being set after bind rather than before

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This commit is contained in:
Simon Rasmussen
2017-07-21 19:01:57 +02:00
parent b5f9b69303
commit dbcf8aeb41
2 changed files with 10 additions and 14 deletions
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6
include/ur_modern_driver/ur/server.h
View File

@@ -15,11 +15,7 @@ private:
TCPSocket client_;
protected:
virtual bool open(int socket_fd, struct sockaddr *address, size_t address_len)
{
return ::bind(socket_fd, address, address_len) == 0;
}
virtual void setOptions(int socket_fd);
virtual bool open(int socket_fd, struct sockaddr *address, size_t address_len);
public:
URServer(int port);

18
src/ur/server.cpp
View File

@@ -14,14 +14,6 @@ URServer::~URServer()
TCPSocket::close();
}
void URServer::setOptions(int socket_fd)
{
TCPSocket::setOptions(socket_fd);
int flag = 1;
setsockopt(socket_fd, SOL_SOCKET, SO_REUSEADDR, &flag, sizeof(int));
}
std::string URServer::getIP()
{
sockaddr_in name;
@@ -39,6 +31,14 @@ std::string URServer::getIP()
return std::string(buf);
}
bool URServer::open(int socket_fd, struct sockaddr *address, size_t address_len)
{
int flag = 1;
setsockopt(socket_fd, SOL_SOCKET, SO_REUSEADDR, &flag, sizeof(int));
return ::bind(socket_fd, address, address_len) == 0;
}
bool URServer::bind()
{
std::string empty;
@@ -65,7 +65,7 @@ bool URServer::accept()
if (client_fd <= 0)
return false;
setOptions(client_fd);
TCPSocket::setOptions(client_fd);
return client_.setSocketFD(client_fd);
}