（C++）EINVALエラーMOCAPノード

Question

を初期化するとき、私は自分のPC上でMOTIVEソフトウェアのそれと一致するように、私のMOCAPノード（仮想マシン）のIPアドレスを設定しようとしています。 MOCAP.yamlファイルがintially 224.0.0.1に設定されていますが、私はそれは私のマシンのIPアドレスと一致するように変更するたびに、それはこのようにEINVALエラーが発生している：

は「SocketExceptionが」

のインスタンスを投げた後に呼び出さ終了しますソケットオプションの設定に失敗しました：：（）何

EINVAL

を================================= ========================================

必要なプロセス[mocap_node-1 ]が死んだ！ プロセスは、終了コード-6 PID 4575 [死亡した、CMD /ホーム/ radlab/MOCAP/develの/ LIB/mocap_optitrack/mocap_node __name：= mocap_node __log：= /ホーム/ radlab/.ros /ログ/ 3fe16008-4521-11e6 -9638-080027e2597b/mocap_node-1.log]。 ログファイル：/home/radlab/.ros/log/3fe16008-4521-11e6-9638-080027e2597b/mocap_node-1*.log

シャットダウンの開始！

============================================== ===========================ここ

はsocket.cpp

/* 
* Socket.cpp 
* 
* Created on: 14.11.2008 
*  Author: 
*/ 

// Implementation of the Socket class. 

#include "mocap_optitrack/socket.h" 
#include <cstring> 
#include <cerrno> 
#include <fcntl.h> 
#include <iostream> 
#include <stdio.h> 
#include <sstream> 

#include <ros/ros.h> 

UdpMulticastSocket::UdpMulticastSocket(const int local_port, const std::string multicast_ip) 
{ 
    // Create a UDP socket 
    ROS_INFO("Creating socket..."); 
    m_socket = socket(AF_INET, SOCK_DGRAM, 0); 
    if(m_socket < 0) 
    throw SocketException(strerror(errno)); 

    // Allow reuse of local addresses 
    ROS_INFO("Setting socket options..."); 
    int option_value = 1; 
    int result = setsockopt(m_socket, SOL_SOCKET, SO_REUSEADDR, (void*)&option_value, sizeof(int)); 
    if(result == -1) 
    { 
    std::stringstream error; 
    error << "Failed to set socket option: "; 
    switch(errno) 
    { 
     case EBADF: 
    error << "EBADF"; 
    break; 
     case EFAULT: 
    error << "EFAULT"; 
    break; 
     case EINVAL: 
    error << "EINVAL"; 
    break; 
     case ENOPROTOOPT: 
    error << "ENOPROTOOPT"; 
    break; 
     case ENOTSOCK: 
    error << "ENOTSOCK"; 
    break; 
     default: 
    error << "unknown error"; 
    break; 
    } 
    throw SocketException(error.str().c_str());  
    } 

    // Fill struct for local address 
    memset (&m_local_addr, 0, sizeof (m_local_addr)); 
    m_local_addr.sin_family = AF_INET; 
    m_local_addr.sin_addr.s_addr = htonl(INADDR_ANY); 
    m_local_addr.sin_port = htons(local_port); 
    ROS_INFO("Local address: %s:%i", inet_ntoa(m_local_addr.sin_addr), ntohs(m_local_addr.sin_port)); 

    // Bind the socket 
    ROS_INFO("Binding socket to local address..."); 
    result = bind(m_socket, (sockaddr*)&m_local_addr, sizeof(m_local_addr)); 
    if(result == -1) 
    { 
    std::stringstream error; 
    error << "Failed to bind socket to local address:" << strerror(errno); 
    throw SocketException(error.str().c_str()); 
    } 

    // Join multicast group 
    struct ip_mreq mreq; 
    mreq.imr_multiaddr.s_addr = inet_addr(multicast_ip.c_str()); 
    mreq.imr_interface = m_local_addr.sin_addr; 
    ROS_INFO("Joining multicast group %s...", inet_ntoa(mreq.imr_multiaddr)); 

    result = setsockopt(m_socket, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *)&mreq, sizeof(mreq)); 
    if(result == -1) 
    { 
    std::stringstream error; 
    error << "Failed to set socket option: "; 
    switch(errno) 
    { 
     case EBADF: 
    error << "EBADF"; 
    break; 
     case EFAULT: 
    error << "EFAULT"; 
    break; 
     case EINVAL: 
    error << "EINVAL"; 
    break; 
     case ENOPROTOOPT: 
    error << "ENOPROTOOPT"; 
    break; 
     case ENOTSOCK: 
    error << "ENOTSOCK"; 
    break; 
     default: 
    error << "unknown error"; 
    break; 
    } 
    throw SocketException(error.str().c_str());  
    } 

    // Make socket non-blocking 
    ROS_INFO("Enabling non-blocking I/O"); 
    int flags = fcntl(m_socket, F_GETFL , 0); 
    result = fcntl(m_socket, F_SETFL, flags | O_NONBLOCK); 
    if(result == -1) 
    { 
    std::stringstream error; 
    error << "Failed to enable non-blocking I/O: " << strerror(errno); 
    throw SocketException(error.str().c_str()); 
    } 
} 

UdpMulticastSocket::~UdpMulticastSocket() 
{ 
    close(m_socket); 
} 

int UdpMulticastSocket::recv() 
{ 
    memset (buf, 0, MAXRECV + 1); 

    sockaddr_in remote_addr; 
    int addr_len = sizeof(struct sockaddr); 
    int status = recvfrom(
    m_socket, 
    buf, 
    MAXRECV, 
    0, 
    (sockaddr *)&remote_addr, 
    (socklen_t*)&addr_len); 

    if(status > 0) 
    ROS_DEBUG("%4i bytes received from %s:%i", status, inet_ntoa(remote_addr.sin_addr), ntohs(remote_addr.sin_port)); 
    else if(status == 0) 
    ROS_INFO("Connection closed by peer"); 

    return status; 
} 

のコードは誰でも助けることができていますなぜIPアドレスを変更するとこのエラーが出るのですか？

Answer 1

私はmocapやmotivが何であるかわかりませんが、79番目のマルチキャストグループに参加するために非マルチキャストのIPアドレスを使用しようとしていると思います。これは適切にstdで関数に渡されたものです： ：.yamlファイルのstring multicast_ip。

参照のmanページ：

IP_ADD_MEMBERSHIP (since Linux 1.2) 
      Join a multicast group. Argument is an ip_mreqn structure. 

       struct ip_mreqn { 
        struct in_addr imr_multiaddr; /* IP multicast group 
                address */ 
        struct in_addr imr_address; /* IP address of local 
                interface */ 
        int   imr_ifindex; /* interface index */ 
       }; 

      imr_multiaddr contains the address of the multicast group the 
      application wants to join or leave. It must be a valid 
      multicast address (or setsockopt(2) fails with the error 
      EINVAL). imr_address is the address of the local interface 
      with which the system should join the multicast group; if it 
      is equal to INADDR_ANY, an appropriate interface is chosen by 
      the system. imr_ifindex is the interface index of the 
      interface that should join/leave the imr_multiaddr group, or 0 
      to indicate any interface. 

      The ip_mreqn structure is available only since Linux 2.2. For 
      compatibility, the old ip_mreq structure (present since Linux 
      1.2) is still supported; it differs from ip_mreqn only by not 
      including the imr_ifindex field. (The kernel determines which 
      structure is being passed based on the size passed in optlen.) 

      IP_ADD_MEMBERSHIP is valid only for setsockopt(2).