Module udp 

UDP state/command channel.

Port of Network::udpReceive, Network::udpBlockingReceive and Network::udpSend from libfranka 0.21.2 (src/network.h).

Like libfranka the socket is bound to 0.0.0.0:0 and the server address is learned from the datagrams it sends (Poco::DatagramSocket::receiveFrom writes into udp_server_address_, which udpSend then uses). The real robot sends its states from port 1337, franka-sim from an ephemeral port; remembering the source address handles both.

Structs

UdpChannel

The client’s UDP socket for robot states and robot commands.

Constants

DEFAULT_UDP_TIMEOUT

Default UDP receive timeout (libfranka’s Network default udp_timeout).

Functions

loopback

Convenience: the loopback address of port, used when a test needs an explicit peer.