fix: open socket before setting its options

tier4 · Aug 27, 2024 · 3357ab0 · 3357ab0
1 parent 082a887
commit 3357ab0
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_hesai_hw_interfaces/hesai_hw_interface.cpp
@@ -153,6 +153,10 @@ Status HesaiHwInterface::SensorInterfaceStart()
 #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
     PrintError("init ok");
 #endif
+    cloud_udp_driver_->receiver()->open();
+#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
+    PrintError("open ok");
+#endif
 
     bool success = cloud_udp_driver_->receiver()->setKernelBufferSize(UDP_SOCKET_BUFFER_SIZE);
     if (!success) {
@@ -162,10 +166,6 @@ Status HesaiHwInterface::SensorInterfaceStart()
       return Status::ERROR_1;
     }
 
-    cloud_udp_driver_->receiver()->open();
-#ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
-    PrintError("open ok");
-#endif
     cloud_udp_driver_->receiver()->bind();
 #ifdef WITH_DEBUG_STDOUT_HESAI_HW_INTERFACE
     PrintError("bind ok");