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

I think you should use SO_LINGER options (with timeout 0). In this case, you connection will close immediately after closing your program; and next restart will be able to bind again.

example:

linger lin;
lin.l_onoff = 0;
lin.l_linger = 0;
setsockopt(fd, SOL_SOCKET, SO_LINGER, (const char *)&lin, sizeof(int));

see definition: http://man7.org/linux/man-pages/man7/socket.7.html

SO_LINGER
          Sets or gets the SO_LINGER option.  The argument is a linger
          structure.

              struct linger {
                  int l_onoff;    /* linger active */
                  int l_linger;   /* how many seconds to linger for */
              };

          When enabled, a close(2) or shutdown(2) will not return until
          all queued messages for the socket have been successfully sent
          or the linger timeout has been reached.  Otherwise, the call
          returns immediately and the closing is done in the background.
          When the socket is closed as part of exit(2), it always
          lingers in the background.

More about SO_LINGER: TCP option SO_LINGER (zero) - when it's required

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