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desktop: fixed TCP buffering issue with HIL 

the TCP layer was buffering the servo updates, which caused very poor HIL flight
This commit is contained in:
Andrew Tridgell 2011-11-02 09:20:46 +11:00
parent 19d5e983ba
commit e7671178b3
1 changed files with 4 additions and 0 deletions
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4
libraries/Desktop/support/FastSerial.cpp
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@ -45,6 +45,7 @@
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include "desktop.h"
#define LISTEN_BASE_PORT 5760
@ -131,6 +132,7 @@ static void tcp_start_connection(unsigned int serial_port, bool wait_for_connect
fprintf(stderr, "accept() error - %s", strerror(errno));
exit(1);
}
setsockopt(s->fd, SOL_TCP, TCP_NODELAY, &one, sizeof(one));
s->connected = true;
}
}
@ -170,7 +172,9 @@ static void check_connection(struct tcp_state *s)
if (select_check(s->listen_fd)) {
s->fd = accept(s->listen_fd, NULL, NULL);
if (s->fd != -1) {
int one = 1;
s->connected = true;
setsockopt(s->fd, SOL_TCP, TCP_NODELAY, &one, sizeof(one));
printf("New connection on serial port %u\n", s->serial_port);
}
}