Obbart/universal_robots_ros_driver
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Merge pull request #1 from TAMS-Group/fork_master

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Fix runtime issues
This commit is contained in:
Simon Rasmussen
2017-07-24 18:49:45 +02:00
committed by GitHub
parent dbcf8aeb41 45480881ff
commit 3be07d19be
5 changed files with 27 additions and 14 deletions
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12
src/ur/server.cpp
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@@ -60,10 +60,14 @@ bool URServer::accept()
struct sockaddr addr;
socklen_t addr_len;
int client_fd = ::accept(getSocketFD(), &addr, &addr_len);
int client_fd = -1;
if (client_fd <= 0)
return false;
int retry = 0;
while((client_fd = ::accept(getSocketFD(), &addr, &addr_len)) == -1){
LOG_ERROR("Accepting socket connection failed. (errno: %d)", errno);
if(retry++ >= 5)
return false;
}
TCPSocket::setOptions(client_fd);
@@ -81,4 +85,4 @@ void URServer::disconnectClient()
bool URServer::write(const uint8_t* buf, size_t buf_len, size_t& written)
{
return client_.write(buf, buf_len, written);
}
}