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Applied patch from Dustin Spicuzza to fix robot hang

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Change-Id: I273feafcad5c95de04a11bab64c2d5596f248662
This commit is contained in:
Mitchell Wills
2014-03-04 16:00:04 -05:00
committed by Brad Miller
parent 130319b771
commit 048b02e6cd
5 changed files with 107 additions and 23 deletions
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1
networktables/cpp/include/networktables2/NetworkTableEntry.h
View File

@@ -42,6 +42,7 @@ public:
NetworkTableEntry(std::string& name, NetworkTableEntryType* type, EntryValue value);
NetworkTableEntry(EntryId id, std::string& name, SequenceNumber sequenceNumber, NetworkTableEntryType* type, EntryValue value);
NetworkTableEntry(const NetworkTableEntry &);
virtual ~NetworkTableEntry();
EntryId GetId();

45
networktables/cpp/lib/Athena/networktables2/stream/FDIOStream.cpp
View File

@@ -15,6 +15,7 @@
#include <iolib.h>
#else
#include <unistd.h>
#include <fcntl.h>
#endif
#include <stdio.h>
@@ -24,6 +25,13 @@ FDIOStream::FDIOStream(int _fd){
// f = fdopen(_fd, "rbwb");
// if(f==NULL)
// throw IOException("Could not open stream from file descriptor", errno);
// Set the TCP socket to be non-blocking
int flags = fcntl(fd, F_GETFL, 0);
if (fcntl(fd, F_SETFL, flags | O_NONBLOCK) < 0)
{
::close(fd);
throw IOException("Could not set socket to non-blocking mode");
}
}
FDIOStream::~FDIOStream(){
close();
@@ -66,14 +74,35 @@ int FDIOStream::read(void* ptr, int numbytes){
return totalRead;
}
int FDIOStream::write(const void* ptr, int numbytes){
int numWrote = ::write(fd, (char*)ptr, numbytes);//TODO: this is bad
//int numWrote = fwrite(ptr, 1, numbytes, f);
if(numWrote==numbytes)
return numWrote;
perror("write error: ");
fflush(stderr);
throw IOException("Could not write all bytes to fd stream");
int numWrote = ::write(fd, (char*)ptr, numbytes);
if(numWrote==numbytes)
return numWrote;
if (numWrote == -1 && (errno == EWOULDBLOCK || errno == EAGAIN))
{
// see if write timeout expires
struct timeval timeout;
fd_set fdSet;
FD_ZERO(&fdSet);
FD_SET(fd, &fdSet);
timeout.tv_sec = 1; // wait 1 second for the other side to connect
timeout.tv_usec = 0;
int select_result = select(FD_SETSIZE, NULL, &fdSet, NULL, &timeout);
if ( select_result < 0)
throw IOException("Select returned an error on write");
if (FD_ISSET(fd, &fdSet)) {
numWrote = ::write(fd, (char*)ptr, numbytes);
if(numWrote==numbytes)
return numWrote;
}
}
perror("write error: ");
fflush(stderr);
throw IOException("Could not write all bytes to fd stream");
}
void FDIOStream::flush(){
//if(fflush(f)==EOF)

43
networktables/cpp/lib/Win32/src/main/native/networktables2/stream/FDIOStream.cpp
View File

@@ -20,6 +20,13 @@
FDIOStream::FDIOStream(int _fd){
fd = _fd;
// Set the TCP socket to be non-blocking
u_long on = 1;
if (ioctlsocket(fd, FIONBIO, &on))
{
::close(fd);
throw IOException("Could not set socket to non-blocking mode");
}
}
FDIOStream::~FDIOStream(){
@@ -79,13 +86,35 @@ int Send( int sockfd,char* Data, size_t sizeData )
int FDIOStream::write(const void* ptr, int numbytes)
{
int numWrote = Send(fd,(char *)ptr,numbytes);
if(numWrote==numbytes)
return numWrote;
perror("write error: ");
fflush(stderr);
throw IOException("Could not write all bytes to fd stream");
int numWrote = ::write(fd, (char*)ptr, numbytes);
if(numWrote==numbytes)
return numWrote;
if (numWrote == -1 && (errno == EWOULDBLOCK || errno == EAGAIN))
{
// see if write timeout expires
struct timeval timeout;
fd_set fdSet;
FD_ZERO(&fdSet);
FD_SET(fd, &fdSet);
timeout.tv_sec = 1; // wait 1 second for the other side to connect
timeout.tv_usec = 0;
int select_result = select(FD_SETSIZE, NULL, &fdSet, NULL, &timeout);
if ( select_result < 0)
throw IOException("Select returned an error on write");
if (FD_ISSET(fd, &fdSet)) {
numWrote = ::write(fd, (char*)ptr, numbytes);
if(numWrote==numbytes)
return numWrote;
}
}
perror("write error: ");
fflush(stderr);
throw IOException("Could not write all bytes to fd stream");
}
void FDIOStream::flush(){

11
networktables/cpp/lib/share/networktables2/NetworkTableEntry.cpp
View File

@@ -20,6 +20,17 @@ NetworkTableEntry::NetworkTableEntry(EntryId _id, std::string& _name, SequenceNu
m_isDirty = false;
}
NetworkTableEntry::NetworkTableEntry(const NetworkTableEntry &other) :
name(other.name),
id(other.id),
sequenceNumber(other.sequenceNumber),
type(other.type),
m_isNew(other.m_isNew),
m_isDirty(other.m_isDirty)
{
value = type->copyValue(other.value);
}
NetworkTableEntry::~NetworkTableEntry(){
type->deleteValue(value);
}

30
networktables/cpp/lib/share/networktables2/WriteManager.cpp
View File

@@ -97,10 +97,17 @@ void WriteManager::run() {
entry = ((std::queue<NetworkTableEntry*>*)outgoingAssignmentQueue)->front();
((std::queue<NetworkTableEntry*>*)outgoingAssignmentQueue)->pop();
{
NTSynchronized sync(entryStore.LOCK);
entry->MakeClean();
wrote = true;
receiver.offerOutgoingAssignment(entry);
NetworkTableEntry * entryCopy;
{
NTSynchronized sync(entryStore.LOCK);
entry->MakeClean();
wrote = true;
entryCopy = new NetworkTableEntry(*entry);
}
receiver.offerOutgoingAssignment(entryCopy);
delete entryCopy;
}
}
@@ -108,10 +115,17 @@ void WriteManager::run() {
entry = ((std::queue<NetworkTableEntry*>*)outgoingUpdateQueue)->front();
((std::queue<NetworkTableEntry*>*)outgoingUpdateQueue)->pop();
{
NTSynchronized sync(entryStore.LOCK);
entry->MakeClean();
wrote = true;
receiver.offerOutgoingUpdate(entry);
NetworkTableEntry * entryCopy;
{
NTSynchronized sync(entryStore.LOCK);
entry->MakeClean();
wrote = true;
entryCopy = new NetworkTableEntry(*entry);
}
receiver.offerOutgoingUpdate(entryCopy);
delete entryCopy;
}
}