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Read from multiple sockets

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This commit is contained in:
pgsocks
2023-02-02 01:14:29 -06:00
parent 0cec23f7f7
commit 6eb0d092e6
6 changed files with 155 additions and 98 deletions
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src/robomaster.c
+24 -14
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@@ -35,7 +35,8 @@ void poll_message(Client client, union Message* resp) {
fd_set read_fds;
FD_ZERO(&read_fds);
FD_SET(client->sdk_conn->sockfd, &read_fds);
int result = select(client->sdk_conn->sockfd + 1, &read_fds, NULL, NULL, NULL);
FD_SET(client->dev_conn->sockfd, &read_fds);
int result = select(max_fd + 1, &read_fds, NULL, NULL, NULL);
// Check for socket polling errors
if(result < 0) {
@@ -45,23 +46,32 @@ void poll_message(Client client, union Message* resp) {
// Skip if nothing was received yet
// TODO: Make a static "empty" message or something
if (result == 0) {
if (result == 0)
return;
}
// Read a message from the socket
int recvb = recvfrom(client->sdk_conn->sockfd, resp, sizeof(union Message), 0, (struct sockaddr*)&client->sdk_conn->remote_addr, &client->sdk_conn->addrlen);
// Read a message from the sockets
for(int i = 0; i < 2; i++)
{
// Check for socket read errors
if(recvb < 0) {
perror("reading socket failed");
exit(EXIT_FAILURE);
}
if(!FD_ISSET(client->conns[i]->sockfd, &read_fds))
continue;
int recvb = recvfrom(client->sdk_conn->sockfd, resp, sizeof(union Message), 0, (struct sockaddr*)&client->sdk_conn->remote_addr, &client->sdk_conn->addrlen);
// Check for socket read errors
if(recvb < 0) {
perror("reading socket failed");
exit(EXIT_FAILURE);
}
// Check for message errors
if(message_validate(resp) != MESSAGEERR_NONE) {
perror("invalid message");
exit(EXIT_FAILURE);
}
return;
// Check for message errors
if(message_validate(resp) != MESSAGEERR_NONE) {
perror("invalid message");
exit(EXIT_FAILURE);
}
}