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handle return value of read() correctly #44

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handle return value of read() correctly #44

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43ab26f
handle return value of read() correctly
ishiguroJSK Aug 18, 2019
1d036ec
Merge branch 'master' into fix_cpu100
k-okada Aug 19, 2019
f4bf618
Merge branch 'master' into fix_cpu100
k-okada Dec 21, 2021
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9 changes: 6 additions & 3 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,12 +131,15 @@ bool readCharFromSocket(const int& fdc, const int& length, char* reply){
int c = 0;
while ( len < length ) {
c = read(fdc, reply+len, length-len);
if (c >= 0) {
if (c > 0) {
len += c;
} else {
} else if (c == 0) {
ROS_DEBUG("=== need to read more data ... n = %d (%d) ===", c, len);
continue;
usleep(100); // polling @ 0.1 ms
} else {
ROS_WARN("read() error detected");
}
//ROS_INFO("c=%d, len=%d, length=%d", c, len, length);
}
// This could actually check if data was received and may return on timeout with false
return true;
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