Using poll() in favor of select() in the XmlRPCDispatcher (ros#833)

clearpathrobotics · Jan 31, 2017 · e6a8ffb · e6a8ffb
1 parent fa8659e
commit e6a8ffb
Showing 1 changed file with 44 additions and 54 deletions.
diff --git a/utilities/xmlrpcpp/src/XmlRpcDispatch.cpp b/utilities/xmlrpcpp/src/XmlRpcDispatch.cpp
@@ -6,12 +6,17 @@
 #include <math.h>
 #include <errno.h>
 #include <sys/timeb.h>
+#include <sys/poll.h>
 #if defined (__ANDROID__)
 #include <sys/select.h>
 #endif
 
 #if defined(_WINDOWS)
 # include <winsock2.h>
+static inline int poll( struct pollfd *pfd, int nfds, int timeout)
+{
+    return WSAPoll ( pfd, nfds, timeout );
+}
 
 # define USE_FTIME
 # if defined(_MSC_VER)
@@ -60,7 +65,7 @@ XmlRpcDispatch::removeSource(XmlRpcSource* source)
 
 
 // Modify the types of events to watch for on this source
-void 
+void
 XmlRpcDispatch::setSourceEvents(XmlRpcSource* source, unsigned eventMask)
 {
   for (SourceList::iterator it=_sources.begin(); it!=_sources.end(); ++it)
@@ -81,84 +86,69 @@ XmlRpcDispatch::work(double timeout)
   _endTime = (timeout < 0.0) ? -1.0 : (getTime() + timeout);
   _doClear = false;
   _inWork = true;
+  int timeout_ms = static_cast<int>(floor(timeout * 1000.));
 
   // Only work while there is something to monitor
   while (_sources.size() > 0) {
 
     // Construct the sets of descriptors we are interested in
-    fd_set inFd, outFd, excFd;
-	  FD_ZERO(&inFd);
-	  FD_ZERO(&outFd);
-	  FD_ZERO(&excFd);
+    struct pollfd fds[_sources.size()];
 
-    int maxFd = -1;     // Not used on windows
     SourceList::iterator it;
-    for (it=_sources.begin(); it!=_sources.end(); ++it) {
+    std::size_t i = 0;
+    for (it=_sources.begin(); it!=_sources.end(); ++it, ++i) {
       int fd = it->getSource()->getfd();
-      if (it->getMask() & ReadableEvent) FD_SET(fd, &inFd);
-      if (it->getMask() & WritableEvent) FD_SET(fd, &outFd);
-      if (it->getMask() & Exception)     FD_SET(fd, &excFd);
-      if (it->getMask() && fd > maxFd)   maxFd = fd;
+      fds[i].fd = fd;
+      fds[i].events = 0;
+      if (it->getMask() & ReadableEvent) fds[i].events |= POLLIN;
+      if (it->getMask() & WritableEvent) fds[i].events |= POLLOUT;
     }
 
     // Check for events
-    int nEvents;
-    if (timeout < 0.0)
-      nEvents = select(maxFd+1, &inFd, &outFd, &excFd, NULL);
-    else 
-    {
-      struct timeval tv;
-      tv.tv_sec = (int)floor(timeout);
-      tv.tv_usec = ((int)floor(1000000.0 * (timeout-floor(timeout)))) % 1000000;
-      nEvents = select(maxFd+1, &inFd, &outFd, &excFd, &tv);
-    }
+    int nEvents = poll(fds, _sources.size(), (timeout_ms < 0) ? -1 : timeout_ms);
 
     if (nEvents < 0)
     {
       if(errno != EINTR)
-        XmlRpcUtil::error("Error in XmlRpcDispatch::work: error in select (%d).", nEvents);
+        XmlRpcUtil::error("Error in XmlRpcDispatch::work: error in poll (%d).", nEvents);
       _inWork = false;
       return;
     }
 
     // Process events
-    for (it=_sources.begin(); it != _sources.end(); )
+    for (i=0, it=_sources.begin(); it != _sources.end(); ++i)
     {
       SourceList::iterator thisIt = it++;
       XmlRpcSource* src = thisIt->getSource();
-      int fd = src->getfd();
       unsigned newMask = (unsigned) -1;
-      if (fd <= maxFd) {
-        // If you select on multiple event types this could be ambiguous
-        if (FD_ISSET(fd, &inFd))
-          newMask &= src->handleEvent(ReadableEvent);
-        if (FD_ISSET(fd, &outFd))
-          newMask &= src->handleEvent(WritableEvent);
-        if (FD_ISSET(fd, &excFd))
-          newMask &= src->handleEvent(Exception);
-
-        // Find the source again.  It may have moved as a result of the way
-        // that sources are removed and added in the call stack starting
-        // from the handleEvent() calls above.
-        for (thisIt=_sources.begin(); thisIt != _sources.end(); thisIt++)
-        {
-          if(thisIt->getSource() == src)
-            break;
-        }
-        if(thisIt == _sources.end())
-        {
-          XmlRpcUtil::error("Error in XmlRpcDispatch::work: couldn't find source iterator");
-          continue;
-        }
-
-        if ( ! newMask) {
-          _sources.erase(thisIt);  // Stop monitoring this one
-          if ( ! src->getKeepOpen())
-            src->close();
-        } else if (newMask != (unsigned) -1) {
-          thisIt->getMask() = newMask;
-        }
+      // If you select on multiple event types this could be ambiguous
+      if (fds[i].revents & POLLIN)
+        newMask &= src->handleEvent(ReadableEvent);
+      if (fds[i].revents & POLLOUT)
+        newMask &= src->handleEvent(WritableEvent);
+      if (fds[i].revents & (POLLERR|POLLHUP|POLLNVAL))
+        newMask &= src->handleEvent(Exception);
+
+      // Find the source again.  It may have moved as a result of the way
+      // that sources are removed and added in the call stack starting
+      // from the handleEvent() calls above.
+      for (thisIt=_sources.begin(); thisIt != _sources.end(); thisIt++)
+      {
+        if(thisIt->getSource() == src)
+          break;
+      }
+      if(thisIt == _sources.end())
+      {
+        XmlRpcUtil::error("Error in XmlRpcDispatch::work: couldn't find source iterator");
+        continue;
       }
+
+      if ( ! newMask) {
+        _sources.erase(thisIt);  // Stop monitoring this one
+        if ( ! src->getKeepOpen())
+          src->close();
+      } else if (newMask != (unsigned) -1)
+        thisIt->getMask() = newMask;
     }
 
     // Check whether to clear all sources