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export TCP connection mode to pybullet

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made TCP disconnection detection more reliable
This commit is contained in:
Erwin Coumans
2017-02-20 20:34:05 -08:00
parent 942015df9d
commit 28146e816f
4 changed files with 72 additions and 13 deletions
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34
examples/SharedMemory/tcp/main.cpp
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@@ -74,8 +74,10 @@ int main(int argc, char *argv[])
socket.Initialize();
socket.Listen("localhost", port);
b3AlignedObjectArray<char> bytesReceived;
socket.SetBlocking();
int curNumErr = 0;
while (!exitRequested)
{
@@ -83,9 +85,12 @@ int main(int argc, char *argv[])
if ((pClient = socket.Accept()) != NULL)
{
b3AlignedObjectArray<char> bytesReceived;
int clientPort = socket.GetClientPort();
printf("connected from %s:%d\n", socket.GetClientAddr(),clientPort);
//----------------------------------------------------------------------
// Receive request from the client.
//----------------------------------------------------------------------
@@ -96,9 +101,27 @@ int main(int argc, char *argv[])
int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
//heuristic to detect disconnected clients
CSimpleSocket::CSocketError err = pClient->GetSocketError();
if (err != CSimpleSocket::SocketSuccess)
{
b3Clock::usleep(100);
curNumErr++;
if (curNumErr>100)
{
printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
break;
}
}
if (pClient->Receive(maxLen))
{
curNumErr = 0;
char* msg2 = (char*) pClient->GetData();
int numBytesRec2 = pClient->GetBytesReceived();
@@ -221,9 +244,8 @@ int main(int argc, char *argv[])
}
if (!receivedData)
{
printf("Didn't receive data.\n");
break;
}
//printf("Didn't receive data.\n");
}
}
printf("Disconnecting client.\n");
pClient->Close();