From 134c1d991a6a003f5079d84b8a623f6f703cc2e1 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Tue, 11 Aug 2015 09:24:13 +0200
Subject: [PATCH] Commander: Time out if not starting successfully

---
 src/modules/commander/commander.cpp | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 57e175ed19..a01b33087f 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -275,7 +275,7 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			warnx("commander already running");
+			warnx("already running");
 			/* this is not an error */
 			exit(0);
 		}
@@ -288,11 +288,18 @@ int commander_main(int argc, char *argv[])
 					     commander_thread_main,
 					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 
-		while (!thread_running) {
-			usleep(200);
+		unsigned constexpr max_wait_us = 1000000;
+		unsigned constexpr max_wait_steps = 2000;
+
+		unsigned i;
+		for (i = 0; i < max_wait_steps; i++) {
+			usleep(max_wait_us / max_wait_steps);
+			if (thread_running) {
+				break;
+			}
 		}
 
-		exit(0);
+		exit(!(i < max_wait_steps));
 	}
 
 	if (!strcmp(argv[1], "stop")) {