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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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45
networktables/cpp/lib/Athena/networktables2/stream/FDIOStream.cpp
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@@ -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)