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Added option to connect using IP address of the robot. #3

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Added option to connect using IP address of the robot. #3

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82d2fd6
Update channel.py
k-m-irfan May 22, 2024
64b64b7
Update channel_config.py
k-m-irfan May 22, 2024
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9 changes: 7 additions & 2 deletions unitree_sdk2py/core/channel.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
from cyclonedds.internal import dds_c_t, InvalidSample

# for channel config
from .channel_config import ChannelConfigAutoDetermine, ChannelConfigHasInterface
from .channel_config import ChannelConfigAutoDetermine, ChannelConfigHasInterface, ChannelConfigHasIP

# for singleton
from ..utils.singleton import Singleton
Expand Down Expand Up @@ -201,7 +201,12 @@ def Init(self, id: int, networkInterface: str = None, qos: Qos = None):
if networkInterface is None:
config = ChannelConfigAutoDetermine
else:
config = ChannelConfigHasInterface.replace('$__IF_NAME__$', networkInterface)
if "." in networkInterface: # connect using IP
config = ChannelConfigHasIP.replace('$__IF_IP__$', networkInterface)
print(f"connecting using IP: {networkInterface}")
else: # connect using Iface
config = ChannelConfigHasInterface.replace('$__IF_NAME__$', networkInterface)
print(f"connecting using Iface: {networkInterface}")

try:
self.__domain = Domain(id, config)
Expand Down
11 changes: 11 additions & 0 deletions unitree_sdk2py/core/channel_config.py
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Expand Up @@ -23,3 +23,14 @@
</General>
</Domain>
</CycloneDDS>'''

ChannelConfigHasIP = '''<?xml version="1.0" encoding="UTF-8" ?>
<CycloneDDS>
<Domain Id="any">
<General>
<Interfaces>
<NetworkInterface address="$__IF_IP__$" priority="default" multicast="default"/>
</Interfaces>
</General>
</Domain>
</CycloneDDS>'''