/* The message is returned in a static buffer, so don't call this
again until you're done with the previous response or it will be overwritten. */
const char* recv_msg(char *buf, int bufsize) {
int val;
fd_set read_fdset;
fd_set except_fdset;
struct timeval tv;
char readbuf[bufsize];
unsigned int totalbytes;
/* Is there already a reply in the buffer from before? (can happen if
we get multiple lines in one read) */
const char *reply_msg = extract_reply(buf);
if (reply_msg != NULL)
return reply_msg;
while (1) {
tv.tv_sec = 1;
tv.tv_usec = 0;
FD_ZERO(&read_fdset);
FD_ZERO(&except_fdset);
FD_SET(sock, &read_fdset);
FD_SET(sock, &except_fdset);
if (select(sock+1, &read_fdset, NULL, &except_fdset, &tv) == 0) {
/* we've waited 2 seconds and got no response - too long - conclude
the socket is dead */
printf("timed out waiting response\n");
//connect_to_robot();
//initialize_robot();
return 0;
}
if (FD_ISSET(sock, &except_fdset)) {
connect_to_robot();
re_initialize_robot();
return 0;
}
assert(FD_ISSET(sock, &read_fdset));
val = read(sock, readbuf, bufsize-1);
if (val > 0) {
} else {
/* the write failed - likely the robot was switched off - attempt
to reconnect and reinitialize */
connect_to_robot();
re_initialize_robot();
buf[0]='\0';
return 0;
}
/* ensure readbuf is null terminated */
readbuf[val] = '\0';
totalbytes = strlen(buf);
add_to_buffer(buf, &totalbytes, readbuf);
reply_msg = extract_reply(buf);
if (reply_msg != NULL)
return reply_msg;
}
}
void extract_array(redisReply *node, Rcpp::List& retlist) {
for(unsigned int i = 0;i < node->elements;i++) {
retlist[i] = extract_reply(node->element[i]);
}
}
// execute given string
SEXP exec(std::string cmd) {
redisReply *reply = static_cast<redisReply*>(redisCommand(prc_, cmd.c_str()));
SEXP rep = extract_reply(reply);
freeReplyObject(reply);
return(rep);
}
