From 537222c6580bb1a028b6a4d7feac20a36552fb28 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Sun, 12 Nov 2023 17:59:59 -0800
Subject: [PATCH] AP_DDS: Add user-selectable UDP IP

---
 libraries/AP_DDS/AP_DDS_Client.cpp |  4 ++++
 libraries/AP_DDS/AP_DDS_Client.h   |  3 ++-
 libraries/AP_DDS/AP_DDS_UDP.cpp    |  2 +-
 libraries/AP_DDS/AP_DDS_config.h   | 10 +++++++++-
 4 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 29560fcc79208..100f51de2fe3c 100644
--- a/libraries/AP_DDS/AP_DDS_Client.cpp
+++ b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -65,6 +65,10 @@ const AP_Param::GroupInfo AP_DDS_Client::var_info[] {
     // @User: Standard
     AP_GROUPINFO("_PORT", 2, AP_DDS_Client, udp.port, 2019),
 
+    // @Group: _IP
+    // @Path: ../AP_Networking/AP_Networking_address.cpp
+    AP_SUBGROUPINFO(udp.ip, "_IP", 3,  AP_DDS_Client, AP_Networking_IPV4),
+
 #endif
 
     AP_GROUPEND
diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h
index acdf4c7ddcb16..19d20c3017d24 100644
--- a/libraries/AP_DDS/AP_DDS_Client.h
+++ b/libraries/AP_DDS/AP_DDS_Client.h
@@ -31,6 +31,7 @@
 
 #if AP_DDS_UDP_ENABLED
 #include <AP_HAL/utility/Socket.h>
+#include <AP_Networking/AP_Networking_address.h>
 #endif
 
 extern const AP_HAL::HAL& hal;
@@ -138,7 +139,7 @@ class AP_DDS_Client
     struct {
         AP_Int32 port;
         // UDP endpoint
-        const char* ip = "127.0.0.1";
+        AP_Networking_IPV4 ip{AP_DDS_DEFAULT_UDP_IP_ADDR};
         // UDP Allocation
         uxrCustomTransport transport;
         SocketAPM *socket;
diff --git a/libraries/AP_DDS/AP_DDS_UDP.cpp b/libraries/AP_DDS/AP_DDS_UDP.cpp
index 2610291231dba..6593100618bb5 100644
--- a/libraries/AP_DDS/AP_DDS_UDP.cpp
+++ b/libraries/AP_DDS/AP_DDS_UDP.cpp
@@ -14,7 +14,7 @@ bool AP_DDS_Client::udp_transport_open(uxrCustomTransport *t)
     if (sock == nullptr) {
         return false;
     }
-    if (!sock->connect(dds->udp.ip, dds->udp.port.get())) {
+    if (!sock->connect(dds->udp.ip.get_str(), dds->udp.port.get())) {
         return false;
     }
     dds->udp.socket = sock;
diff --git a/libraries/AP_DDS/AP_DDS_config.h b/libraries/AP_DDS/AP_DDS_config.h
index 244cb0d7ffd4a..094d2d4efb96c 100644
--- a/libraries/AP_DDS/AP_DDS_config.h
+++ b/libraries/AP_DDS/AP_DDS_config.h
@@ -9,10 +9,18 @@
 
 // UDP only on SITL for now
 #ifndef AP_DDS_UDP_ENABLED
-#define AP_DDS_UDP_ENABLED AP_DDS_ENABLED && AP_NETWORKING_SOCKETS_ENABLED
+#define AP_DDS_UDP_ENABLED AP_DDS_ENABLED && AP_NETWORKING_ENABLED
 #endif
 
 #include <AP_VisualOdom/AP_VisualOdom_config.h>
 #ifndef AP_DDS_VISUALODOM_ENABLED
 #define AP_DDS_VISUALODOM_ENABLED HAL_VISUALODOM_ENABLED && AP_DDS_ENABLED
 #endif
+
+#ifndef AP_DDS_DEFAULT_UDP_IP_ADDR
+#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+    #define AP_DDS_DEFAULT_UDP_IP_ADDR "192.168.13.2"
+#else
+    #define AP_DDS_DEFAULT_UDP_IP_ADDR "127.0.0.1"
+#endif
+#endif