Merge pull request PepperlFuchs#1 from PepperlFuchs/fix/port

use port declared in configuration to establish connection
mbeutelspacher · Feb 1, 2024 · 6b5f0f7 · 6b5f0f7
2 parents 3e5d0b2 + 1d03d86
commit 6b5f0f7
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Showing 3 changed files with 10 additions and 1 deletion.
diff --git a/src/pf_driver/src/pf/pf_interface.cpp b/src/pf_driver/src/pf/pf_interface.cpp
@@ -56,7 +56,7 @@ bool PFInterface::init(std::shared_ptr<HandleInfo> info, std::shared_ptr<ScanCon
 
   if (info->handle_type == HandleInfo::HANDLE_TYPE_UDP)
   {
-    transport_ = std::make_unique<UDPTransport>(info->hostname);
+    transport_ = std::make_unique<UDPTransport>(info->hostname, info->port);
     if (!transport_->connect())
     {
       RCLCPP_ERROR(node_->get_logger(), "Unable to establish UDP connection");

diff --git a/src/pf_driver/src/pf/pfsdp_base.cpp b/src/pf_driver/src/pf/pfsdp_base.cpp
@@ -189,6 +189,14 @@ void PFSDPBase::request_handle_tcp(const std::string& port, const std::string& p
   {
     query["packet_type"] = config_->packet_type;
   }
+  if (!port.empty())
+  {
+    query["port"] = port;
+  }
+  else if (info_->port.compare("0") != 0)
+  {
+    query["port"] = info_->port;
+  }
   auto resp = get_request("request_handle_tcp", { "handle", "port" }, query);
 
   info_->handle = resp["handle"];

diff --git a/src/pf_driver/src/ros/ros_main.cpp b/src/pf_driver/src/ros/ros_main.cpp
@@ -14,6 +14,7 @@ int main(int argc, char* argv[])
 
   std::string device, transport_str, scanner_ip, port, topic, frame_id, packet_type;
   int samples_per_scan, start_angle, max_num_points_scan, watchdogtimeout, num_layers;
+  port = "0";
   num_layers = 0;
   bool watchdog, apply_correction = 0;