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HAL_Linux: config UART file descriptor as non-blocking

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This commit is contained in:
Víctor Mayoral Vilches 2014-06-20 14:19:03 +02:00 committed by Andrew Tridgell
parent e6f27c9fac
commit ca80c0b8e2
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_HAL_Linux/UARTDriver.cpp
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@ -294,12 +294,12 @@ void LinuxUARTDriver::_tcp_start_connection(bool wait_for_connection)
printf("Serial port %u on TCP port %u\n", portNumber,
_base_port + portNumber);
// fflush(stdout);
fflush(stdout);
}
if (wait_for_connection) {
printf("Waiting for connection ....\n");
// fflush(stdout);
fflush(stdout);
net_fd = accept(listen_fd, NULL, NULL);
if (net_fd == -1) {
printf("accept() error - %s", strerror(errno));
@ -307,6 +307,11 @@ void LinuxUARTDriver::_tcp_start_connection(bool wait_for_connection)
}
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;