Multiple sessions

[JoeyR]

I have a handful of devices that I need to connect to for explicit messages. Is there currently a way to do this besides putting each device on it's own subnet? (#8)

[JoeyR]

I figured it out!

1. Comment out the bind here: https://github.com/ros-drivers/odva_ethernetip/blob/indigo-devel/include/odva_ethernetip/socket/udp_socket.h#L63
2. Then create new sockets for each session.

The question I have is: what are the implications of not binding the socket?

#include <iostream>

#include "odva_ethernetip/input_assembly.h"
#include "odva_ethernetip/io_scanner.h"
#include "odva_ethernetip/output_assembly.h"
#include "odva_ethernetip/session.h"
#include "odva_ethernetip/socket/tcp_socket.h"
#include "odva_ethernetip/socket/udp_socket.h"

int main(int args, char** argv) {
  using eip::socket::TCPSocket;
  using eip::socket::UDPSocket;

  boost::asio::io_service boost_io = {};

  boost::asio::io_service io_service;
  boost::shared_ptr<TCPSocket> socket = shared_ptr<TCPSocket>(new TCPSocket(io_service));
  boost::shared_ptr<UDPSocket> io_socket = shared_ptr<UDPSocket>(new UDPSocket(io_service, 2222));
  eip::Session s(socket, io_socket);

  boost::shared_ptr<TCPSocket> socket1 = shared_ptr<TCPSocket>(new TCPSocket(io_service));
  boost::shared_ptr<UDPSocket> io_socket1 = shared_ptr<UDPSocket>(new UDPSocket(io_service, 2222));
  eip::Session s1(socket1, io_socket1);

  try {
    s.open(argv[1]);
    s1.open(argv[2]);

    InputAssembly ia;
    s.getSingleAttributeSerializable(0x04, 107, 3, ia);

    std::cout << "Input Assembly: " << std::endl;
    std::cout << ia.sensor_and_control_port_inputs << std::endl;
    std::cout << ia.sensor_detect << std::endl;

    s1.getSingleAttributeSerializable(0x04, 107, 3, ia);

    std::cout << "Input Assembly: " << std::endl;
    std::cout << ia.sensor_and_control_port_inputs << std::endl;
    std::cout << ia.sensor_detect << std::endl;

  } catch (const std::exception& e) {
    std::cerr << "Error: " << e.what() << std::endl;
  }

  s.close();
  s1.close();

  return 0;
}