Changeset 269 in flair-src for trunk/tools/FlairGCS/src/UdtSocket.cpp

Timestamp:

10/04/18 13:53:11 (6 years ago)

Author:

Sanahuja Guillaume

Message:

flairgcs:
speed up processing time when receiving datas from uav
triger watchdog while receiving datas from uav
(avoids connection lost in uav)

File:

• trunk/tools/FlairGCS/src/UdtSocket.cpp (modified) (2 diffs)

trunk/tools/FlairGCS/src/UdtSocket.cpp

@@ -66 +66 @@
 // disconnection of ground station
 void UdtSocket::heartbeat(void) {
+  //printf("h %s %i.%i\n",name.toLocal8Bit().constData(),QTime::currentTime().second(),QTime::currentTime().msec());
   char data = WATCHDOG_HEADER;
   quint64 sent=write(&data, 1,HEARTBEAT_TIMER,true);
@@ -161 +162 @@
     } else if(readfds==socket && num==1 && rv==1) {
       int size;
+      QTime initTime;
+      initTime.start();
       do {
+        //we are in "infinite" loop, so let the heartbeat run if needed
+        if(initTime.elapsed()>HEARTBEAT_TIMER) {
+          initTime.start();
+          //do not use error check of heartbeat() method: (otherwise, closes com too early)
+          char data = WATCHDOG_HEADER;
+          UDT::sendmsg(socket, &data, 1, HEARTBEAT_TIMER, true);
+        }
+        
         size=UDT::recvmsg(socket, buf, buf_size);