Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_Linux: fixed TCP client connection in LinuxUARTDriver

Browse Source
This commit is contained in:
Staroselskii Georgii 2015-02-12 13:45:08 +03:00 committed by Andrew Tridgell
parent 39213584da
commit da6316ed4c
1 changed files with 71 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

110
libraries/AP_HAL_Linux/UARTDriver.cpp
View File

@ -85,7 +85,7 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
}
if (!_connected) {
::printf("LinuxUARTDriver TCP connection not stablished\n");
::printf("LinuxUARTDriver TCP connection not established\n");
exit(1);
}
_flow_control = FLOW_CONTROL_ENABLE;
@ -282,47 +282,66 @@ void LinuxUARTDriver::_tcp_start_connection(bool wait_for_connection)
/* we want to be able to re-use ports quickly */
setsockopt(listen_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
::printf("bind port %u for %u\n",
(unsigned)ntohs(sockaddr.sin_port),
(unsigned)portNumber);
if (!wait_for_connection) {
ret = bind(listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
if (ret == -1) {
::printf("bind failed on port %u - %s\n",
(unsigned)ntohs(sockaddr.sin_port),
strerror(errno));
exit(1);
ret = connect(listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
if (ret < 0) {
::printf("connect failed on port %u - %s\n",
(unsigned)ntohs(sockaddr.sin_port),
strerror(errno));
exit(1);
}
fcntl(listen_fd, F_SETFL, fcntl(listen_fd, F_GETFL, 0) | O_NONBLOCK);
_rd_fd = listen_fd;
_connected = true;
::printf("Serial port %u on TCP port %u\n", portNumber,
_base_port + portNumber);
fflush(stdout);
} else {
ret = bind(listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
if (ret == -1) {
::printf("bind failed on port %u - %s\n",
(unsigned)ntohs(sockaddr.sin_port),
strerror(errno));
exit(1);
}
ret = listen(listen_fd, 5);
if (ret == -1) {
::printf("listen failed - %s\n", strerror(errno));
exit(1);
}
::printf("Serial port %u on TCP port %u\n", portNumber,
_base_port + portNumber);
::fflush(stdout);
::printf("Waiting for connection ....\n");
::fflush(stdout);
net_fd = accept(listen_fd, NULL, NULL);
if (net_fd == -1) {
::printf("accept() error - %s", strerror(errno));
exit(1);
}
setsockopt(net_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
setsockopt(net_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
// always run the file descriptor non-blocking, and deal with |
// blocking IO in the higher level calls
fcntl(net_fd, F_SETFL, fcntl(net_fd, F_GETFL, 0) | O_NONBLOCK);
_connected = true;
_rd_fd = net_fd;
_wr_fd = net_fd;
}
ret = listen(listen_fd, 5);
if (ret == -1) {
::printf("listen failed - %s\n", strerror(errno));
exit(1);
}
::printf("Serial port %u on TCP port %u\n", portNumber,
_base_port + portNumber);
fflush(stdout);
}
if (wait_for_connection) {
::printf("Waiting for connection ....\n");
::fflush(stdout);
net_fd = accept(listen_fd, NULL, NULL);
if (net_fd == -1) {
::printf("accept() error - %s", strerror(errno));
exit(1);
}
setsockopt(net_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
setsockopt(net_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
// always run the file descriptor non-blocking, and deal with |
// blocking IO in the higher level calls
fcntl(net_fd, F_SETFL, fcntl(net_fd, F_GETFL, 0) | O_NONBLOCK);
_connected = true;
_rd_fd = net_fd;
_wr_fd = net_fd;
}
}
@ -570,7 +589,20 @@ int LinuxUARTDriver::_read_fd(uint8_t *buf, uint16_t n)
ret = ::read(_rd_fd, buf, n);
if (ret > 0) {
BUF_ADVANCETAIL(_readbuf, ret);
} else {
switch (errno) {
case EAGAIN:
/* Ignore EAGAIN that resulted from non-blocking read */
break;
case EPIPE:
/* Ignore EPIPE that resulted from peer shutdown */
break;
default:
::fprintf(stdout, "read failed - %s\n", strerror(errno));
break;
}
}
return ret;
}