p36850791
/
kinetic-devel
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Enable TCP keepalive on sockets so that we can detect connection "hangs" that can happen when wireless goes out

This commit is contained in:
Josh Faust 2009-12-23 00:20:02 +00:00
parent 46d2b95528
commit 995c8bbba4
3 changed files with 53 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
core/roscpp/include/ros/transport/transport_tcp.h
View File

@ -55,6 +55,9 @@ class PollSet;
*/
class TransportTCP : public Transport
{
public:
static bool s_use_keepalive_;
public:
enum Flags
{
@ -95,6 +98,7 @@ public:
int getServerPort() { return server_port_; }
void setNoDelay(bool nodelay);
void setKeepAlive(bool use, uint32_t idle, uint32_t interval, uint32_t count);
// overrides from Transport
virtual int32_t read(uint8_t* buffer, uint32_t size);

3
core/roscpp/src/libros/init.cpp
View File

@ -45,6 +45,7 @@
#include "ros/callback_queue.h"
#include "ros/param.h"
#include "ros/rosout_appender.h"
#include "ros/transport/transport_tcp.h"
#include "roscpp/GetLoggers.h"
#include "roscpp/SetLoggerLevel.h"
@ -266,6 +267,8 @@ void start()
g_started = true;
g_ok = true;
param::param("/tcp_keepalive", TransportTCP::s_use_keepalive_, TransportTCP::s_use_keepalive_);
PollManager::instance()->addPollThreadListener(checkForShutdown);
XMLRPCManager::instance()->bind("shutdown", shutdownCallback);

46
core/roscpp/src/libros/transport/transport_tcp.cpp
View File

@ -55,6 +55,8 @@
namespace ros
{
bool TransportTCP::s_use_keepalive_ = true;
TransportTCP::TransportTCP(PollSet* poll_set, int flags)
: sock_(-1)
, closed_(false)
@ -95,6 +97,8 @@ bool TransportTCP::initializeSocket()
}
}
setKeepAlive(s_use_keepalive_, 60, 10, 9);
if (is_server_)
{
cached_remote_host_ = "TCPServer Socket";
@ -144,6 +148,48 @@ void TransportTCP::setNoDelay(bool nodelay)
}
}
void TransportTCP::setKeepAlive(bool use, uint32_t idle, uint32_t interval, uint32_t count)
{
if (use)
{
ROSCPP_LOG_DEBUG("Enabling TCP Keepalive on socket [%d]", sock_);
int val = 1;
if (setsockopt(sock_, SOL_SOCKET, SO_KEEPALIVE, &val, sizeof(val)) != 0)
{
ROS_ERROR("setsockopt failed to set SO_KEEPALIVE on socket [%d] [%s]", sock_, cached_remote_host_.c_str());
}
val = idle;
if (setsockopt(sock_, SOL_TCP, TCP_KEEPIDLE, &val, sizeof(val)) != 0)
{
ROS_ERROR("setsockopt failed to set TCP_KEEPIDLE on socket [%d] [%s]", sock_, cached_remote_host_.c_str());
}
val = interval;
if (setsockopt(sock_, SOL_TCP, TCP_KEEPINTVL, &val, sizeof(val)) != 0)
{
ROS_ERROR("setsockopt failed to set TCP_KEEPINTVL on socket [%d] [%s]", sock_, cached_remote_host_.c_str());
}
val = count;
if (setsockopt(sock_, SOL_TCP, TCP_KEEPCNT, &val, sizeof(val)) != 0)
{
ROS_ERROR("setsockopt failed to set TCP_KEEPCNT on socket [%d] [%s]", sock_, cached_remote_host_.c_str());
}
}
else
{
ROSCPP_LOG_DEBUG("Disabling TCP Keepalive on socket [%d]", sock_);
int val = 0;
if (setsockopt(sock_, SOL_SOCKET, SO_KEEPALIVE, &val, sizeof(val)) != 0)
{
ROS_ERROR("setsockopt failed to set SO_KEEPALIVE on socket [%d] [%s]", sock_, cached_remote_host_.c_str());
}
}
}
bool TransportTCP::connect(const std::string& host, int port)
{
sock_ = socket(AF_INET, SOCK_STREAM, 0);