From 0c23d0bf3d12d94027e876e6a4b648797ab27a94 Mon Sep 17 00:00:00 2001
From: Simon Rasmussen <zetlon@gmail.com>
Date: Fri, 19 May 2017 01:22:42 +0200
Subject: [PATCH] Added set options function for sockets

---
 include/ur_modern_driver/tcp_socket.h | 1 +
 include/ur_modern_driver/ur/server.h  | 2 ++
 include/ur_modern_driver/ur/stream.h  | 2 +-
 src/tcp_socket.cpp                    | 7 +++++++
 src/ur/server.cpp                     | 8 ++++++++
 5 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/include/ur_modern_driver/tcp_socket.h b/include/ur_modern_driver/tcp_socket.h
index 303d49e..9822424 100644
--- a/include/ur_modern_driver/tcp_socket.h
+++ b/include/ur_modern_driver/tcp_socket.h
@@ -25,6 +25,7 @@ protected:
   {
     return false;
   }
+  virtual void setOptions(int socket_fd);
   
   
   bool setup(std::string &host, int port);
diff --git a/include/ur_modern_driver/ur/server.h b/include/ur_modern_driver/ur/server.h
index dba5fe5..c5c8412 100644
--- a/include/ur_modern_driver/ur/server.h
+++ b/include/ur_modern_driver/ur/server.h
@@ -20,6 +20,8 @@ protected:
   {
     return ::bind(socket_fd, address, address_len) == 0;
   }
+  virtual void setOptions(int socket_fd);
+
 
 public:
   URServer(int port);
diff --git a/include/ur_modern_driver/ur/stream.h b/include/ur_modern_driver/ur/stream.h
index e3bbb23..60619a8 100644
--- a/include/ur_modern_driver/ur/stream.h
+++ b/include/ur_modern_driver/ur/stream.h
@@ -32,7 +32,7 @@ public:
   }
   void disconnect()
   {
-    LOG_INFO("Disconnecting");
+    LOG_INFO("Disconnecting from %s:%d", host_.c_str(), port_);
     TCPSocket::close();
   }
 
diff --git a/src/tcp_socket.cpp b/src/tcp_socket.cpp
index 01685bf..f0049ec 100644
--- a/src/tcp_socket.cpp
+++ b/src/tcp_socket.cpp
@@ -16,6 +16,12 @@ TCPSocket::~TCPSocket()
   close();
 }
 
+void TCPSocket::setOptions(int socket_fd)
+{
+  int flag = 1;
+  setsockopt(socket_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
+}
+
 bool TCPSocket::setup(std::string &host, int port)
 {
   if(state_ == SocketState::Connected)
@@ -63,6 +69,7 @@ bool TCPSocket::setup(std::string &host, int port)
   }
   else
   {
+    setOptions(socket_fd_);
     state_ = SocketState::Connected;
     LOG_INFO("Connection established for %s:%d", host.c_str(), port);
   }
diff --git a/src/ur/server.cpp b/src/ur/server.cpp
index 6c99e13..fd929fe 100644
--- a/src/ur/server.cpp
+++ b/src/ur/server.cpp
@@ -9,6 +9,14 @@ URServer::URServer(int port)
 {
 }
 
+void URServer::setOptions(int socket_fd)
+{
+  TCPSocket::setOptions(socket_fd);
+
+  int flag = 1;
+  setsockopt(socket_fd, SOL_SOCKET, SO_REUSEADDR, &flag, sizeof(int));
+}
+
 std::string URServer::getIP()
 {
   char buf[128];