Obbart/universal_robots_ros_driver
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setup timeout for tcp sockets

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If we want to be able to stop the producer, we'll have to make sure,
it is not hanging inside the recv function because no new packages came in.
This commit is contained in:
Felix Mauch
2019-06-11 17:55:03 +02:00
parent bb36999868
commit e1e71b5cb4
3 changed files with 29 additions and 0 deletions
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16
ur_rtde_driver/src/comm/tcp_socket.cpp
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@@ -44,6 +44,11 @@ void TCPSocket::setOptions(int socket_fd)
int flag = 1;
setsockopt(socket_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
setsockopt(socket_fd, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
if (recv_timeout_ != nullptr)
{
setsockopt(socket_fd, SOL_SOCKET, SO_RCVTIMEO, recv_timeout_.get(), sizeof(timeval));
}
}
bool TCPSocket::setup(std::string& host, int port)
@@ -188,5 +193,16 @@ bool TCPSocket::write(const uint8_t* buf, const size_t buf_len, size_t& written)
return true;
}
void TCPSocket::setReceiveTimeout(const timeval& timeout)
{
recv_timeout_.reset(new timeval(timeout));
if (state_ == SocketState::Connected)
{
setOptions(socket_fd_);
}
}
} // namespace comm
} // namespace ur_driver