Merge pull request ros-industrial#33 from ros-industrial/issue25_recv…

…_bytes Issue ros-industrial#25 fix
OrebroUniversity · Aug 23, 2013 · dd0490e · dd0490e
2 parents c1581b6 + ed2d24f
commit dd0490e
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Showing 4 changed files with 313 additions and 135 deletions.
diff --git a/simple_message/CMakeLists.txt b/simple_message/CMakeLists.txt
@@ -91,13 +91,16 @@ include_directories(include
   ${catkin_INCLUDE_DIRS}
 )
 
+# NOTE: All test files require TEST_PORT_BASE to be defined.  Defining different
+# ports for each test executable allows them to run in parallel.
 
 # DEFAULT LIBRARY (SAME ENDIAN)
 add_library(simple_message ${SRC_FILES})
 target_link_libraries(simple_message ${catkin_LIBRARIES})
 add_dependencies(simple_message ${industrial_msgs_EXPORTED_TARGETS})
 
 catkin_add_gtest(utest ${UTEST_SRC_FILES})
+set_target_properties(utest PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=11000")
 target_link_libraries(utest simple_message)
 
 # ALTERNATIVE LIBRARY (DIFFERENT ENDIAN)
@@ -107,6 +110,7 @@ target_link_libraries(simple_message_bswap ${catkin_LIBRARIES})
 add_dependencies(simple_message_bswap ${industrial_msgs_EXPORTED_TARGETS})
 
 catkin_add_gtest(utest_byte_swapping ${UTEST_SRC_FILES})
+set_target_properties(utest_byte_swapping PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=12000")
 target_link_libraries(utest_byte_swapping simple_message_bswap)
 
 # ALTERNATIVE LIBRARY (64-bit floats)
@@ -116,7 +120,7 @@ target_link_libraries(simple_message_float64 ${catkin_LIBRARIES})
 add_dependencies(simple_message_float64 ${industrial_msgs_EXPORTED_TARGETS})
 
 catkin_add_gtest(utest_float64 ${UTEST_SRC_FILES})
-set_target_properties(utest_float64 PROPERTIES COMPILE_DEFINITIONS "FLOAT64")
+set_target_properties(utest_float64 PROPERTIES COMPILE_DEFINITIONS "TEST_PORT_BASE=13000;FLOAT64")
 target_link_libraries(utest_float64 simple_message_float64)
 
 

diff --git a/simple_message/include/simple_message/socket/simple_socket.h b/simple_message/include/simple_message/socket/simple_socket.h
@@ -181,6 +181,12 @@ class SimpleSocket : public industrial::smpl_msg_connection::SmplMsgConnection
    * in order to avoid dynamic memory allocation)
    */
   static const int MAX_BUFFER_SIZE = 1024;
+
+  /**
+   * \brief socket ready polling timeout (ms)
+   */
+  static const int SOCKET_POLL_TO = 1000;
+
   /**
    * \brief internal data buffer for receiving
    */
@@ -207,14 +213,29 @@ class SimpleSocket : public industrial::smpl_msg_connection::SmplMsgConnection
     LOG_ERROR("%s, rc: %d. Error: '%s' (errno: %d)", msg, rc, strerror(errno_), errno_);
   }
 
+  /**
+   * \brief polls socket for data or error
+   *
+   * \param timeout (ms) negative or zero values result in blocking
+   * \param ready true if ready
+   * \param except true if exception
+   *
+   * \return true if function DID NOT timeout (must check flags)
+   */
+  bool poll(int timeout, bool & ready, bool & error);
+
   /**
    * \brief returns true if socket data is ready to receive
    *
    * \param timeout (ms) negative or zero values result in blocking
    *
    * \return true if data is ready to recieve
    */
-  bool isReadyReceive(int timeout);
+  bool isReadyReceive(int timeout)
+  {
+    bool r, e;
+    return poll(timeout, r, e);
+  }
 
   // Send/Receive functions (inherited classes should override raw methods
   // Virtual