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keep supervisor alive if robot is killed

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pehladik 2020-03-30 15:37:42 +02:00
parent 89a2bae5c0
commit a87b0ffc69
1 changed files with 9 additions and 4 deletions
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13
software/raspberry/superviseur-robot/lib/comrobot.cpp
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@ -155,17 +155,22 @@ Message *ComRobot::Write(Message* msg) {
char buffer[1024] = {0};
cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush;
send(sock, s.c_str(), s.length(), 0);
send(sock, s.c_str(), s.length(), MSG_NOSIGNAL);
int valread = read(sock, buffer, 1024);
if (valread < 0) {
if (valread == 0) {
cout << "The communication is out of order" << endl;
msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
} else if (valread < 0) {
cout << "Timeout" << endl;
msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
} else {
string s(&buffer[0], valread);
msgAnswer = StringToMessage(s);
//msgAnswer = new Message(MESSAGE_ANSWER_ACK);
cout << "Response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
}
cout << "response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
#else
AddChecksum(s);