int main(int argc, char *argv[]){
if (!ros::isInitialized()) {
int argc = 0;
char **argv = NULL;
ros::init(argc, argv, "ROS_MASTER_URI_receiver");
}
// create the IP broadcast Socket
UDPSocketPtr receiver_socket = UDPSocketPtr(new UDPSocket(BROADCAST_PORT, false));
uint32_t status = 0;
while(status!=3 && !ros::master::check()){
usleep(1000000);
printf("listening for HOST IP\n");
uint32_t host_IP;
status = receiver_socket->receiveHostIP(key,host_IP);
if(status==3){
char IP[16];
receiver_socket->convertByte2Text(host_IP,IP);
ROS_INFO("Received HOST IP: %s",IP);
char ros_master_uri[100];
sprintf(ros_master_uri, "ROS_MASTER_URI=http://%s:11311",IP);
printf("%s\n",ros_master_uri);
putenv(ros_master_uri);
}
}
system (argv[1]);
}
UDPSocketPtr SocketUtil::CreateUDPSocket( SocketAddressFamily inFamily )
{
SOCKET s = socket( inFamily, SOCK_DGRAM, IPPROTO_UDP );
if( s != INVALID_SOCKET )
{
return UDPSocketPtr( new UDPSocket( s ) );
}
else
{
ReportError( "SocketUtil::CreateUDPSocket" );
return nullptr;
}
}
