黑芝麻A1000 设置临时IP连接激光雷达（十）

参考：

1. ifconfig 详解link
2. ifconfig查看ip_Linux设置和查看静态IP之ifconfig命令link

正文：

1. 进入黑芝麻A1000 开发板开发环境，查看所有网络接口

$adb shell
$ifconfig -a
can0      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          NOARP  MTU:16  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)
          Interrupt:24 

can1      Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          NOARP  MTU:16  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)
          Interrupt:25 

eth0      Link encap:Ethernet  HWaddr 66:66:66:4E:1A:7F  
          BROADCAST MULTICAST  MTU:1500  Metric:1
          RX packets:4147166 errors:0 dropped:0 overruns:0 frame:0
          TX packets:2567 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:5168759100 (4.8 GiB)  TX bytes:757986 (740.2 KiB)
          Interrupt:48 

eth1      Link encap:Ethernet  HWaddr 66:66:66:37:44:54  
          BROADCAST SLAVE MULTICAST  MTU:1500  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)
          Interrupt:60 

ip6tnl0   Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          NOARP  MTU:1452  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          inet6 addr: ::1/128 Scope:Host
          UP LOOPBACK RUNNING  MTU:65536  Metric:1
          RX packets:97 errors:0 dropped:0 overruns:0 frame:0
          TX packets:97 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:7984 (7.7 KiB)  TX bytes:7984 (7.7 KiB)

sit0      Link encap:IPv6-in-IPv4  
          NOARP  MTU:1480  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

tunl0     Link encap:UNSPEC  HWaddr 00-00-00-00-30-30-00-30-00-00-00-00-00-00-00-00  
          NOARP  MTU:1480  Metric:1
          RX packets:0 errors:0 dropped:0 overruns:0 frame:0
          TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

2. ifconfig 配置网络端口

$ifconfig eth0 up
$ifconfig eth0 192.168.1.102 broadcast 192.168.1.255 netmask 255.255.255.0
$ifconfig
eth0      Link encap:Ethernet  HWaddr 66:66:66:4E:1A:7F  
          inet addr:192.168.1.102  Bcast:192.168.1.255  Mask:255.255.255.0
          inet6 addr: fe80::6466:66ff:fe4e:1a7f/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:4428663 errors:0 dropped:0 overruns:0 frame:0
          TX packets:2732 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:5519982740 (5.1 GiB)  TX bytes:812834 (793.7 KiB)
          Interrupt:48 

lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          inet6 addr: ::1/128 Scope:Host
          UP LOOPBACK RUNNING  MTU:65536  Metric:1
          RX packets:97 errors:0 dropped:0 overruns:0 frame:0
          TX packets:97 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:7984 (7.7 KiB)  TX bytes:7984 (7.7 KiB)

3. ping 同网段（1网段）的激光雷达

$ping 192.168.1.210
PING 192.168.1.210 (192.168.1.210): 56 data bytes
64 bytes from 192.168.1.210: seq=0 ttl=128 time=0.247 ms
64 bytes from 192.168.1.210: seq=1 ttl=128 time=0.095 ms
64 bytes from 192.168.1.210: seq=2 ttl=128 time=0.117 ms
64 bytes from 192.168.1.210: seq=3 ttl=128 time=0.075 ms
64 bytes from 192.168.1.210: seq=4 ttl=128 time=0.139 ms
64 bytes from 192.168.1.210: seq=5 ttl=128 time=0.097 ms
64 bytes from 192.168.1.210: seq=6 ttl=128 time=0.130 ms
64 bytes from 192.168.1.210: seq=7 ttl=128 time=0.078 ms
64 bytes from 192.168.1.210: seq=8 ttl=128 time=0.198 ms
64 bytes from 192.168.1.210: seq=9 ttl=128 time=0.073 ms
64 bytes from 192.168.1.210: seq=10 ttl=128 time=0.164 ms
64 bytes from 192.168.1.210: seq=11 ttl=128 time=0.078 ms
...

查看PC与激光雷达的ip、网段是否对应：

$sudo tcpdump -n -i enp3s0
...
16:50:59.290997 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.291260 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.291522 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.291785 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.292048 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.292310 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.292573 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.292836 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.293109 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.293367 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.293625 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
16:50:59.293887 IP 192.168.1.210.2369 > 192.168.1.102.2378: UDP, length 1206
...