Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_SITL: Give tcp client 3 attempts to connect 

This make tcp client connection easier when connecting multiple sitl instances
This commit is contained in:
Pierre Kancir 2024-05-22 17:43:35 +02:00 committed by Peter Barker
parent bdb84ed244
commit 9623e7a249
1 changed files with 30 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

45
libraries/AP_HAL_SITL/UARTDriver.cpp
View File

@ -402,9 +402,6 @@ void UARTDriver::_tcp_start_connection(uint16_t port, bool wait_for_connection)
*/
void UARTDriver::_tcp_start_client(const char *address, uint16_t port)
{
int one=1;
struct sockaddr_in sockaddr;
int ret;
if (_connected) {
return;
@ -416,6 +413,7 @@ void UARTDriver::_tcp_start_client(const char *address, uint16_t port)
close(_fd);
}
struct sockaddr_in sockaddr;
memset(&sockaddr,0,sizeof(sockaddr));
#ifdef HAVE_SOCK_SIN_LEN
@ -425,22 +423,36 @@ void UARTDriver::_tcp_start_client(const char *address, uint16_t port)
sockaddr.sin_family = AF_INET;
sockaddr.sin_addr.s_addr = inet_addr(address);
_fd = socket(AF_INET, SOCK_STREAM, 0);
if (_fd == -1) {
fprintf(stderr, "socket failed - %s\n", strerror(errno));
exit(1);
}
ret = fcntl(_fd, F_SETFD, FD_CLOEXEC);
if (ret == -1) {
fprintf(stderr, "fcntl failed on setting FD_CLOEXEC - %s\n", strerror(errno));
exit(1);
constexpr auto one=1;
int ret;
for (int attempt = 0; attempt < 3; ++attempt) {
_fd = socket(AF_INET, SOCK_STREAM, 0);
if (_fd == -1) {
fprintf(stderr, "socket failed - %s\n", strerror(errno));
exit(1);
}
ret = fcntl(_fd, F_SETFD, FD_CLOEXEC);
if (ret == -1) {
fprintf(stderr, "fcntl failed on setting FD_CLOEXEC - %s\n", strerror(errno));
exit(1);
}
/* we want to be able to re-use ports quickly */
setsockopt(_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
ret = connect(_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
if (ret == 0) {
break;
}
fprintf(stderr, "connect failed on port %u - %s at %d retrying\n",
(unsigned) ntohs(sockaddr.sin_port), strerror(errno), AP_HAL::millis());
close(_fd);
// If connection failed, wait for a bit before retrying
sleep(1);
}
/* we want to be able to re-use ports quickly */
setsockopt(_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
ret = connect(_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
if (ret == -1) {
close(_fd);
fprintf(stderr, "connect failed on port %u - %s\n",
(unsigned)ntohs(sockaddr.sin_port),
strerror(errno));
@ -451,6 +463,7 @@ void UARTDriver::_tcp_start_client(const char *address, uint16_t port)
setsockopt(_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
fcntl(_fd, F_SETFD, FD_CLOEXEC);
_connected = true;
fprintf(stdout, "New remote connection on serial port %u, p %u at %d\n", _portNumber, (unsigned) ntohs(sockaddr.sin_port), AP_HAL::millis());
}