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make get_local_ip work offline and on hotspots #22

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make get_local_ip work offline and on hotspots #22

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20 changes: 15 additions & 5 deletions teleop/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,21 +10,31 @@
import transforms3d as t3d
import numpy as np
import json
import subprocess

TF_RUB2FLU = np.array([[0, 0, -1, 0], [-1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 0, 1]])
THIS_DIR = os.path.dirname(os.path.realpath(__file__))


def get_local_ip():
def get_local_ip() -> str:
# Try connecting to an external address first (requires default route / gateway)
try:
# Connect to an external address (doesn't actually send data)
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.connect(("8.8.8.8", 80)) # Google DNS as a dummy target
# Doesn't actually send data, but forces OS to choose an interface with a route
s.connect(("8.8.8.8", 80))
local_ip = s.getsockname()[0]
s.close()
return local_ip
except Exception as e:
return f"Error: {e}"
except Exception:
pass

# Offline/hotspot fallback using 'hostname -I' (Linux-only)
try:
ips = subprocess.check_output(["hostname", "-I"]).decode().strip().split()
return ips[0] if ips else "127.0.0.1"
except Exception:
return "127.0.0.1"



def are_close(a, b=None, lin_tol=1e-9, ang_tol=1e-9):
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