python source code of udp_multicast

Project: crazyswarm (GitHub Link)

crazyswarm-master
- crazyflie2-nrf-firmware
- crazyflie-lib-python
- prebuilt
- .gitmodules
- crazyflie-clients-python
- LICENSE
- .readthedocs.yml
- crazyradio-firmware
- ros_ws
  - src
    - externalDependencies
      - libobjecttracker
      - libmotioncapture
    - crazyflie_ros
    - CMakeLists.txt
    - crazyswarm
      - src
        mocap_helper.cpp
        crazyswarm_teleop.cpp
        crazyswarm_server.cpp
      - package.xml
      - CMakeLists.txt
      - scripts
        crossing4_pps
        pp3.csv
        pp4.csv
        pp1.csv
        pp2.csv
        udp_multicast.py
        test_yamlString.py
        crossing2_pps
        pp1.csv
        pp2.csv
        swap6v_pps
        pp5.csv
        pp3.csv
        pp6.csv
        pp4.csv
        pp1.csv
        pp2.csv
        cmdFullState.py
        test_lowLevel.py
        testGroup.py
        waypoints.csv
        test_highLevel.py
        swap6v.py
        chooser.py
        pycrazyswarm
        testCrazyflieSim.py
        util.py
        piecewise.py
        trajectory.py
        crazyflieSim.py
        joystick.py
        linuxjsdev.py
        crazyflie.py
        crazyswarm.py
        output.py
        keyboard.py
        genericJoystick.py
        __init__.py
        testVispy.py
        visualizer
        visNull.py
        visMatplotlib.py
        __init__.py
        visVispy.py
        cfsim
        Makefile
        cffirmware.i
        setup.py
        __init__.py
        .gitignore
        snap.py
        old
        execute_trajectories.py
        demo2.py
        hover.py
        rotgrid.py
        testPlot.py
        testSim1.py
        pyramid.py
        testParams.py
        plot_trajectory.py
        figure8_canned_cont.py
        figure8_canned.py
        cross.py
        crossing2.py
        usc.py
        demo_optimize_waypoints.py
        cone.py
        figure8_canned_3x.py
        testDownwashHorizontal.py
        check_yaml_pps.py
        demo1.py
        multicone.py
        tapfTest1.py
        test.py
        controller_step.py
        testFastHover.py
        testDownwashVertical.py
        testSpeed.py
        unity.py
        testGraphVis.py
        figure8_csv.py
        cmdVelocityCircle.py
        waypoints.py
        led_colors.py
        niceHover.py
        testGoTo.py
        individual_hover.py
        example_cmd_pos.py
        figure8.csv
        backgroundComputation.py
        csv_sequence.py
        sequence_trajectories
        2
        15.csv
        16.csv
        3.csv
        14.csv
        5.csv
        2.csv
        7.csv
        6.csv
        8.csv
        13.csv
        12.csv
        1.csv
        18.csv
        11.csv
        17.csv
        10.csv
        19.csv
        9.csv
        4.csv
        5
        15.csv
        16.csv
        3.csv
        14.csv
        5.csv
        2.csv
        7.csv
        6.csv
        8.csv
        13.csv
        12.csv
        1.csv
        18.csv
        11.csv
        17.csv
        10.csv
        19.csv
        9.csv
        4.csv
        3
        15.csv
        16.csv
        3.csv
        14.csv
        5.csv
        2.csv
        7.csv
        6.csv
        8.csv
        13.csv
        12.csv
        1.csv
        18.csv
        11.csv
        17.csv
        10.csv
        19.csv
        9.csv
        4.csv
        6
        15.csv
        16.csv
        3.csv
        14.csv
        5.csv
        2.csv
        7.csv
        6.csv
        8.csv
        13.csv
        12.csv
        1.csv
        18.csv
        11.csv
        17.csv
        10.csv
        19.csv
        9.csv
        4.csv
        7
        15.csv
        16.csv
        3.csv
        14.csv
        5.csv
        2.csv
        7.csv
        6.csv
        8.csv
        13.csv
        12.csv
        1.csv
        18.csv
        11.csv
        17.csv
        10.csv
        19.csv
        9.csv
        4.csv
        1
        15.csv
        16.csv
        3.csv
        14.csv
        5.csv
        2.csv
        7.csv
        6.csv
        8.csv
        13.csv
        12.csv
        1.csv
        18.csv
        11.csv
        17.csv
        10.csv
        19.csv
        9.csv
        4.csv
        4
        15.csv
        16.csv
        3.csv
        14.csv
        5.csv
        2.csv
        7.csv
        6.csv
        8.csv
        13.csv
        12.csv
        1.csv
        18.csv
        11.csv
        17.csv
        10.csv
        19.csv
        9.csv
        4.csv
        uav_trajectory.py
        takeoff.csv
      - launch
        object_tracker.yaml
        allCrazyflies.yaml
        USC.yaml
        crazyflies.yaml
        figure8_smooth.csv
        hover_swarm.launch
        rqt.perspective
        test.rviz
        crazyflieTypes.yaml
        mocap_helper.launch
  - .catkin_workspace
- notes
  - stm32timerclocks.txt
  - weights.txt
  - firmware-code-review.txt
  - todo.md
- pc_permissions.sh
- .travis.yml
- README.md
- crazyflie-firmware
- conda_env.yaml
- .gitignore
- docs
  - Makefile
  - images
    - crazyswarm_diagram.svg
  - glossary.rst
  - usage.rst
  - api.rst
  - gettingstarted.rst
  - tutorials
    - git_integration.rst
    - streaming_setpoint.rst
    - tutorials.rst
  - hardware.rst
  - requirements.txt
  - index.rst
  - conf.py
  - changelog.rst
  - internals.rst
  - .gitignore
  - installation.rst
- build.sh
- buildSimOnly.sh

#!/usr/bin/env python

import socket
import struct

# see https://stackoverflow.com/questions/603852/multicast-in-python
class UdpMulticastSender:
  def __init__(self, MCAST_GRP = '224.1.1.1', MCAST_PORT = 5007):
    self.MCAST_GRP = MCAST_GRP
    self.MCAST_PORT = MCAST_PORT
    self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
    self.sock.setsockopt(socket.IPPROTO_IP, socket.IP_MULTICAST_TTL, 2)
    
  def send(self, msg):
    self.sock.sendto(msg, (self.MCAST_GRP, self.MCAST_PORT))


class UdpMulticastReceiver:
  def __init__(self, MCAST_GRP = '224.1.1.1', MCAST_PORT = 5007):
    self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
    self.sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
    self.sock.bind(('', MCAST_PORT))  # use MCAST_GRP instead of '' to listen only
                                 # to MCAST_GRP, not all groups on MCAST_PORT
    mreq = struct.pack("4sl", socket.inet_aton(MCAST_GRP), socket.INADDR_ANY)
    self.sock.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq)

  def recv(self, bufsize=4096):
    return self.sock.recv(bufsize)