Add a timeout to ArduControl commands

diff --git a/source/libr2c2/arducontrol.cpp b/source/libr2c2/arducontrol.cpp
index 1bb48d47f88eac60a301fc32720abccf33c83809..7f95b631aa119bd77e7698d48c52b94fedd7bb23 100644 (file)
--- a/source/libr2c2/arducontrol.cpp
+++ b/source/libr2c2/arducontrol.cpp
@@ -25,6 +25,7 @@ ArduControl::ArduControl(const Options &opts):
        power(false),
        halted(false),
        active_accessory(0),
+       command_timeout(200*Time::msec),
        s88(*this),
        mfx_search(*this),
        thread(*this)
@@ -1074,11 +1075,11 @@ void ArduControl::ControlThread::init_baud_rate()
                cmd.command[1] = rates[0]>>8;
                cmd.command[2] = rates[0];
                cmd.length = 3;
-               if(do_command(cmd)==COMMAND_OK)
+               if(do_command(cmd, Time::sec)==COMMAND_OK)
                {
                        control.serial.set_baud_rate(rates[0]);
                        Time::sleep(Time::sec);
-                       if(do_command(cmd)==COMMAND_OK)
+                       if(do_command(cmd, Time::sec)==COMMAND_OK)
                        {
                                if(control.debug>=1)
                                        IO::print("Rate changed to %d bits/s\n", rates[0]);
@@ -1106,7 +1107,7 @@ bool ArduControl::ControlThread::get_work(PendingCommand &cmd)
        return true;
 }
 
-unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
+unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd, const Time::TimeDelta &timeout)
 {
        if(control.debug>=2)
        {
@@ -1126,7 +1127,7 @@ unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
                if(result)
                        got_data = IO::poll(control.serial, IO::P_INPUT, Time::zero);
                else
-                       got_data = IO::poll(control.serial, IO::P_INPUT);
+                       got_data = IO::poll(control.serial, IO::P_INPUT, timeout);
 
                if(!got_data)
                        break;
@@ -1141,7 +1142,11 @@ unsigned ArduControl::ControlThread::do_command(const PendingCommand &cmd)
                char reply[15];
                unsigned pos = 0;
                while(pos<rlength)
+               {
+                       if(!IO::poll(control.serial, IO::P_INPUT, timeout))
+                               return 0;
                        pos += control.serial.read(reply+pos, rlength-pos);
+               }
 
                if(control.debug>=2)
                {

diff --git a/source/libr2c2/arducontrol.h b/source/libr2c2/arducontrol.h
index 01ee2814c6f2bff1f3e52ad11b67070a97e85900..40c7b3c6912d47247024c5ab28461bb497a6a7f1 100644 (file)
--- a/source/libr2c2/arducontrol.h
+++ b/source/libr2c2/arducontrol.h
@@ -357,7 +357,7 @@ private:
                virtual void main();
                void init_baud_rate();
                bool get_work(PendingCommand &);
-               unsigned do_command(const PendingCommand &);
+               unsigned do_command(const PendingCommand &, const Msp::Time::TimeDelta &);
                unsigned process_reply(const char *, unsigned);
        };
 
@@ -384,6 +384,7 @@ private:
 
        SensorMap sensors;
 
+       Msp::Time::TimeDelta command_timeout;
        Queue<PendingCommand> command_queue;
        Queue<Tag> completed_commands;
        RefreshTask refresh;