v0.5.4: fix: don't SO_REUSEADDR in open_sonar_udp_unicast_socket - #12
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SO_REUSEADDR in open_sonar_udp_unicast_socket meant that multiple unicast sockets could be open at the same time. This is misleading on Linux as packets only arrive in one of them at a time, seemingly the last opened socket. Avoid this confusion by removing SO_REUSEADDR from open_sonar_udp_unicast_socket. With this change, an attempt to open a second unicast socket will raise an exception instead. Also close sockets on exception during open_sonar_*_socket functions. And also update the UDP record example: It used to always open a multicast socket (which seems to also get unicast data), but now it supports choosing with --udp-mode, and verifying unicast configuration destination IP and port when passing --verify. Also update imu example in a similar way. Note on version bump: Since the intended behavior of doing two calls to open_sonar_udp_unicast_socket is not documented, changing code to raise on the second call could be seen as a breaking change. But because wlsonar has very few users, and because I don't see a use case for wanting to open multiple sockets with open_sonar_udp_unicast_socket, I'm treating it as a patch update v0.5.3 -> v0.5.4
wlkh
approved these changes
Aug 6, 2026
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