Update of /cvsroot/playerstage/code/player/server/drivers/opaque
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv32449/server/drivers/opaque
Modified Files:
tcpstream.cc
Log Message:
patch to support reconnection to hardware
adds a fetch mode to upload reflectors from a vectormap
fixes to speed calculations (may not be perfect yet)
Index: tcpstream.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/opaque/tcpstream.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** tcpstream.cc 18 Dec 2007 05:05:08 -0000 1.1
--- tcpstream.cc 19 Feb 2008 19:06:27 -0000 1.2
***************
*** 183,186 ****
--- 183,188 ----
IntProperty port;
+ bool connected;
+
// This is the data we store and send
player_opaque_data_t mData;
***************
*** 225,228 ****
--- 227,232 ----
assert(rx_buffer);
+ connected = false;
+
return;
}
***************
*** 241,247 ****
// Open the terminal
if (OpenTerm())
! return -1;
!
! PLAYER_MSG0(2, "TCP Opaque Driver ready");
// Start the device thread; spawns a new thread and executes
--- 245,251 ----
// Open the terminal
if (OpenTerm())
! PLAYER_ERROR("Failed to connect to socket");
! else
! PLAYER_MSG0(2, "TCP Opaque Driver ready");
// Start the device thread; spawns a new thread and executes
***************
*** 275,278 ****
--- 279,288 ----
// return -1, and a NACK will be sent for you, if a response is
required.
+ if (!connected)
+ {
+ PLAYER_MSG0(2, "TCP reconnecting");
+ OpenTerm();
+ }
+
if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_OPAQUE_CMD_DATA, this->device_addr))
{
***************
*** 287,291 ****
--- 297,305 ----
} while (result < 0 && errno == EAGAIN);
if (result < (int)recv->data_count)
+ {
PLAYER_ERROR2("Error sending data (%d, %s)", errno,
strerror(errno));
+ // Attempt to reconnect.
+ CloseTerm();
+ }
}
***************
*** 312,317 ****
ProcessMessages();
! // Reads the data from the serial port and then publishes it
! ReadData();
// Sleep (you might, for example, block on a read() instead)
--- 326,339 ----
ProcessMessages();
! if (connected)
! {
! // Reads the data from the serial port and then publishes it
! ReadData();
! }
! else
! {
! PLAYER_MSG0(2, "TCP reconnecting");
! OpenTerm();
! }
// Sleep (you might, for example, block on a read() instead)
***************
*** 343,346 ****
--- 365,370 ----
PLAYER_MSG0(2, "TCP Opaque Driver connected");
+ connected = true;
+
return 0;
}
***************
*** 353,356 ****
--- 377,381 ----
{
close(sock);
+ connected = false;
return 0;
}
***************
*** 364,368 ****
//
int len = recv(sock, rx_buffer, buffer_size, 0);
! if (len == 0 || (len < 0 && errno == EAGAIN))
{
// PLAYER_MSG0(2, "empty packet");
--- 389,393 ----
//
int len = recv(sock, rx_buffer, buffer_size, 0);
! if (len < 0 && errno == EAGAIN)
{
// PLAYER_MSG0(2, "empty packet");
***************
*** 370,376 ****
}
! if (len < 0)
{
PLAYER_ERROR2("error reading from socket: %d %s", errno, strerror(errno));
return;
}
--- 395,402 ----
}
! if (len <= 0)
{
PLAYER_ERROR2("error reading from socket: %d %s", errno, strerror(errno));
+ CloseTerm();
return;
}
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