Obbart/universal_robots_ros_driver
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Adds multiple retries to accept reverse connection

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We observed that the accept failed nondeterministically in rare cases.
This commit is contained in:
Henning Kayser
2017-07-21 17:37:07 +02:00
parent 63691e038e
commit 4375ffecc6
1 changed files with 8 additions and 4 deletions
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12
src/ur/server.cpp
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@@ -60,10 +60,14 @@ bool URServer::accept()
struct sockaddr addr; struct sockaddr addr;
socklen_t addr_len; socklen_t addr_len;
int client_fd = ::accept(getSocketFD(), &addr, &addr_len); int client_fd = -1;
if (client_fd <= 0) int retry = 0;
return false; while((client_fd = ::accept(getSocketFD(), &addr, &addr_len)) == -1){
ROS_ERROR_STREAM("Accepting socket connection failed. (errno: " << errno << ")");
if(retry++ >= 5)
return false;
}
setOptions(client_fd); setOptions(client_fd);
@@ -81,4 +85,4 @@ void URServer::disconnectClient()
bool URServer::write(const uint8_t* buf, size_t buf_len, size_t& written) bool URServer::write(const uint8_t* buf, size_t buf_len, size_t& written)
{ {
return client_.write(buf, buf_len, written); return client_.write(buf, buf_len, written);
} }