[c] How do I use setsockopt(SO_REUSEADDR)?

Depending on the libc release it could be needed to set both SO_REUSEADDR and SO_REUSEPORT socket options as explained in socket(7) documentation :

   SO_REUSEPORT (since Linux 3.9)
          Permits multiple AF_INET or AF_INET6 sockets to be bound to an
          identical socket address.  This option must be set on each
          socket (including the first socket) prior to calling bind(2)
          on the socket.  To prevent port hijacking, all of the
          processes binding to the same address must have the same
          effective UID.  This option can be employed with both TCP and
          UDP sockets.

As this socket option appears with kernel 3.9 and raspberry use 3.12.x, it will be needed to set SO_REUSEPORT.

You can set theses two options before calling bind like this :

    int reuse = 1;
    if (setsockopt(sockfd, SOL_SOCKET, SO_REUSEADDR, (const char*)&reuse, sizeof(reuse)) < 0)
        perror("setsockopt(SO_REUSEADDR) failed");

#ifdef SO_REUSEPORT
    if (setsockopt(sockfd, SOL_SOCKET, SO_REUSEPORT, (const char*)&reuse, sizeof(reuse)) < 0) 
        perror("setsockopt(SO_REUSEPORT) failed");
#endif

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