Change license from GPLv3+ to LGPLv3+

CMakeLists.txt

@@ -64,7 +64,7 @@ pkg_check_modules(GST REQUIRED gstreamer-1.0 gstreamer-app-1.0)
 add_library(ArduPilotPlugin
     SHARED
     src/ArduPilotPlugin.cc
-    src/Socket.cpp
+    src/SocketUDP.cc
     src/Util.cc
 )
 target_include_directories(ArduPilotPlugin PRIVATE

include/CameraZoomPlugin.hh

@@ -2,7 +2,7 @@
    Copyright (C) 2023 ArduPilot.org
 
    This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
+   it under the terms of the GNU Lesser General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.
 
@@ -11,7 +11,7 @@
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.
 
-   You should have received a copy of the GNU General Public License
+   You should have received a copy of the GNU Lesser General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 #ifndef CAMERAZOOMPLUGIN_HH_

include/ParachutePlugin.hh

@@ -1,19 +1,19 @@
 /*
-   Copyright (C) 2022 ardupilot.org
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
 
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
 #ifndef PARACHUTEPLUGIN_HH_
 #define PARACHUTEPLUGIN_HH_
 

include/SocketUDP.hh

@@ -0,0 +1,75 @@
+/*
+   Copyright (C) 2024 ardupilot.org
+
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU Lesser General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef SOCKETUDP_HH_
+#define SOCKETUDP_HH_
+
+#include <fcntl.h>
+#include <unistd.h>
+#ifdef _WIN32
+    #include <winsock2.h>
+    #include <Ws2tcpip.h>
+#else
+    #include <sys/ioctl.h>
+    #include <sys/socket.h>
+    #include <netinet/in.h>
+    #include <netinet/tcp.h>
+    #include <arpa/inet.h>
+    #include <sys/select.h>
+#endif
+
+/// \brief Simple UDP socket handling class.
+class SocketUDP {
+public:
+    /// \brief Constructor.
+    SocketUDP(bool reuseaddress, bool blocking);
+
+    /// \brief Destructor.
+    ~SocketUDP();
+
+    /// \brief Bind socket to address and port.
+    bool bind(const char *address, uint16_t port);
+
+    /// \brief Set reuse address option.
+    bool set_reuseaddress();
+
+    /// \brief Set blocking state.
+    bool set_blocking(bool blocking);
+
+    /// \brief Send data to address and port.
+    ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port);
+
+    /// \brief Receive data.
+    ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
+
+    /// \brief Get last client address and port
+    void get_client_address(const char *&ip_addr, uint16_t &port);
+
+private:
+    /// \brief File descriptor.
+    struct sockaddr_in in_addr {};
+
+    /// \brief File descriptor.
+    int fd = -1;
+
+    /// \brief Poll for incoming data with timeout.
+    bool pollin(uint32_t timeout_ms);
+
+    /// \brief Make a sockaddr_in struct from address and port.
+    void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
+};
+#endif  // SOCKETUDP_HH_

include/Util.hh

@@ -2,7 +2,7 @@
    Copyright (C) 2022 ardupilot.org
 
    This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
+   it under the terms of the GNU Lesser General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.
 
@@ -11,7 +11,7 @@
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.
 
-   You should have received a copy of the GNU General Public License
+   You should have received a copy of the GNU Lesser General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 

package.xml

@@ -5,7 +5,7 @@
   <version>0.0.0</version>
   <description>Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers</description>
   <maintainer email="[email protected]">Rhys Mainwaring</maintainer>
-  <license>GPL-3.0</license>
+  <license>LGPL-3.0</license>
   <author>Rhys Mainwaring</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>