Major refactor

include/ur_modern_driver/ur/producer.h

@@ -1,4 +1,5 @@
 #pragma once
+#include <chrono>
 #include "ur_modern_driver/pipeline.h"
 #include "ur_modern_driver/ur/parser.h"
 #include "ur_modern_driver/ur/stream.h"
@@ -9,9 +10,10 @@ class URProducer : public IProducer<T>
 private:
   URStream& stream_;
   URParser<T>& parser_;
+  std::chrono::seconds timeout_;
 
 public:
-  URProducer(URStream& stream, URParser<T>& parser) : stream_(stream), parser_(parser)
+  URProducer(URStream& stream, URParser<T>& parser) : stream_(stream), parser_(parser), timeout_(1)
   {
   }
 
@@ -32,24 +34,29 @@ public:
   {
     // 4KB should be enough to hold any packet received from UR
     uint8_t buf[4096];
-
-    // blocking call
-    ssize_t len = stream_.receive(buf, sizeof(buf));
-
-    // LOG_DEBUG("Read %d bytes from stream", len);
-
-    if (len == 0)
+    size_t read = 0;
+    //expoential backoff reconnects
+    while(true)
     {
-      LOG_WARN("Read nothing from stream");
-      return false;
-    }
-    else if (len < 0)
-    {
-      LOG_WARN("Stream closed");
-      return false;
+      if(stream_.read(buf, sizeof(buf), read))
+      {
+        //reset sleep amount
+        timeout_ = std::chrono::seconds(1);
+        break;
+      }
+
+      if(stream_.closed())
+        return false;
+
+      LOG_WARN("Failed to read from stream, reconnecting in %ld seconds...", timeout_.count());
+      std::this_thread::sleep_for(timeout_);
+      auto next = timeout_ * 2;
+      if(next <= std::chrono::seconds(120))
+        timeout_ = next;
     }
 
-    BinParser bp(buf, static_cast<size_t>(len));
+
+    BinParser bp(buf, read);
     return parser_.parse(bp, products);
   }
 };