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Bugfix: Socket opening blocking main #181

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Bugfix: Socket opening blocking main #181

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2 changes: 1 addition & 1 deletion Source/ROSIntegration/Private/ROSIntegrationGameInstance.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ void UROSIntegrationGameInstance::Init()
if (!bTimerSet)
{
bTimerSet = true;
GetTimerManager().SetTimer(TimerHandle_CheckHealth, this, &UROSIntegrationGameInstance::CheckROSBridgeHealth, 1.0f, true, 5.0f);
GetTimerManager().SetTimer(TimerHandle_CheckHealth, this, &UROSIntegrationGameInstance::CheckROSBridgeHealth, 5.0f, true, 5.0f);
}

if (bIsConnected)
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14 changes: 12 additions & 2 deletions Source/ROSIntegration/Private/rosbridge2cpp/TCPConnection.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,9 +39,19 @@ bool TCPConnection::Init(std::string ip_addr, int port)
std::cout << "Unable to set requested receiver buffer size" << std::endl;
}*/

if (!_sock->Connect(*addr))
bool bConnected = false;
_sock->SetNonBlocking(true);
bConnected = _sock->Connect(*addr);
_sock->SetNonBlocking(false);
// If using _sock->Wait also blocks
if (bConnected ) //&& _sock->Wait(ESocketWaitConditions::WaitForWrite, FTimespan::FromSeconds(2)))
{
// do nothing
}
else
{
return false;

}
// Setting up the receiver thread
UE_LOG(LogROS, Display, TEXT("Setting up receiver thread ..."));

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