Reconnect triggered by zero bytes received fails

[GoogleCodeExporter]

This error is in the simple message library but it presents itself when used 
with the Fanuc controller.  This seems to occur because the Fanuc controller 
keeps socket connections open.

What steps will reproduce the problem?
1. Start the ROS-I software on the Fanuc controller: ldr_ros_i.tp
2. Start the ROS-I software on the PC: roslaunch fanuc_common 
robot_state_visualize_<robot>.launch robot_ip:<ip address>
3. Abort or pause the programs executed by ldr_ros_i.tp
4. Restart ldr_ros_i.tp

What is the expected output? What do you see instead?

The ROS logs will show reconnection errors (EISCONN 106 /* Transport endpoint 
is already connected).  The reconnect is triggered by receiving zero bytes, not 
an error code returned by the socket read.  The socket connection is never 
reacquired.  The socket should reconnect when ldr_ros_i.tp is executed.


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Original issue reported on code.google.com by [email protected] on 19 Apr 2013 at 3:29