Merge branch 'issue-441' into 'main'

fix ifm3d discovery issue on linux Closes #271 See merge request syntron/support/csr/ifm3d/ifm3d!356
ifm · Feb 2, 2024 · c2335a6 · c2335a6
2 parents 2eab41e + 446a0ee
commit c2335a6
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diff --git a/modules/device/src/libifm3d_device/discovery.hpp b/modules/device/src/libifm3d_device/discovery.hpp
@@ -418,6 +418,25 @@ namespace ifm3d
     {
       device_list_.clear();
 
+#ifdef __unix__
+
+      /* Creating universal listener udp connecton */
+      asio::ip::udp::endpoint endpoint(asio::ip::address_v4::any(),
+                                       BCAST_DEFAULT_PORT);
+      auto con = std::make_shared<UDPConnection>(io_context_, endpoint);
+
+      con->RegisterOnReceive(std::bind(&IFMDeviceDiscovery::_OnReceive,
+                                       this,
+                                       std::placeholders::_1,
+                                       std::placeholders::_2,
+                                       std::placeholders::_3));
+      con->RegisterOnClose(std::bind(&IFMDeviceDiscovery::_RemoveConnection,
+                                     this,
+                                     std::placeholders::_1));
+
+      connection_list_.push_back(con);
+#endif
+
       try
         {
           auto addresses = _GetAllInterfaceAddress();

diff --git a/modules/tools/src/libifm3d_tools/discover_app.cpp b/modules/tools/src/libifm3d_tools/discover_app.cpp
@@ -12,7 +12,7 @@
 ifm3d::DiscoverApp::DiscoverApp(int argc,
                                 const char** argv,
                                 const std::string& name)
-  : ifm3d::CmdLineApp(argc, argv, name)
+  : ifm3d::CmdLineApp(argc, argv, name, false)
 {}
 
 int