udp_link.py 文件源码

def _send_data(self, channel, data, string_pattern):
        str_pat = 'I'
        if string_pattern != 's':
            str_pat += string_pattern
            packer = struct.Struct(str_pat)
            sent_vect = [channel] + data
            packed_data = packer.pack(*sent_vect)
        else:
            packer = struct.Struct(str_pat)
            sent_vect = [channel]
            packed_data = packer.pack(*sent_vect)
            packed_data += data
        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)  # UDP
        try:
            sock.sendto(packed_data, (self.ip, self.port))
        except socket.gaierror:
            rospy.logwarn("Host not connected")