Fixed hard-coded host address

Author: hsd-dev

pf_driver/include/pf_driver/communication.hpp

@@ -74,6 +74,11 @@ class Connection
         return this->port;
     }
 
+    const std::string get_host_ip()
+    {
+        return this->host_address;
+    }
+
     void set_port(std::string port)
     {
         this->port = port;
@@ -117,7 +122,7 @@ class Connection
 
     bool is_connected_;
     double last_data_time;
-    std::string ip_address, port;
+    std::string ip_address, port, host_address;
 };
 
 class TCPConnection : public Connection
@@ -185,9 +190,13 @@ class UDPConnection : public Connection
     void connect()
     {
         udp_socket = new boost::asio::ip::udp::socket(io_service, boost::asio::ip::udp::endpoint(boost::asio::ip::udp::v4(), atoi(port.c_str())));
-        port = std::to_string(udp_socket->local_endpoint().port());
         udp_endpoint = boost::asio::ip::udp::endpoint(boost::asio::ip::address::from_string(ip_address), atoi(port.c_str()));
 
+        udp_socket->connect(udp_endpoint);
+
+        port = std::to_string(udp_socket->local_endpoint().port());
+        host_address = udp_socket->local_endpoint().address().to_string();
+
         is_connected_ = true;
     }
 

pf_driver/include/pf_driver/hardware_interface.hpp

@@ -52,6 +52,11 @@ class HardwareInterface
         return connection->get_port();
     }
 
+    const std::string get_host_ip()
+    {
+        return connection->get_host_ip();
+    }
+
     void set_port(std::string port)
     {
         connection->set_port(port);

pf_driver/include/pf_driver/pf_interface.hpp

@@ -217,7 +217,8 @@ class PF_Interface : public HardwareInterface<ConnectionType>, public DataParser
                 std::cerr << "Exception: " << e.what() << std::endl;
                 return HandleInfo();
             }
-            return protocol_interface->request_handle_udp(HardwareInterface<ConnectionType>::get_port(), 'C', 0);
+            return protocol_interface->request_handle_udp(HardwareInterface<ConnectionType>::get_host_ip(),
+                HardwareInterface<ConnectionType>::get_port(), 'C', 0);
         }
     }
 

pf_driver/include/pf_driver/pfsdp_protocol.hpp

@@ -171,9 +171,9 @@ class PFSDPBase
         return handle_info;
     }
 
-    HandleInfo request_handle_udp(const std::string port, const char packet_type, const int start_angle)
+    HandleInfo request_handle_udp(const std::string host_ip, const std::string port, const char packet_type, const int start_angle)
     {
-        auto resp = get_request("request_handle_udp", {"handle", "port"}, {KV("address", "10.0.10.1"), KV("port", port)});
+        auto resp = get_request("request_handle_udp", {"handle", "port"}, {KV("address", host_ip), KV("port", port)});
         HandleInfo handle_info;
         handle_info.handle = resp["handle"];
         handle_info.port = resp["port"];