Updated RWS subscription timeout implementation

ros-industrial · Feb 22, 2019 · 9af439c · 9af439c
1 parent dde2af1
commit 9af439c
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Showing 4 changed files with 13 additions and 4 deletions.
diff --git a/include/abb_librws/rws_client.h b/include/abb_librws/rws_client.h
@@ -706,6 +706,11 @@ class RWSClient : public POCOClient
    */
   static const size_t LOG_SIZE = 20;
 
+  /**
+   * \brief Static constant for the default RWS subscription timeout [microseconds].
+   */
+  static const Poco::Int64 DEFAULT_SUBSCRIPTION_TIMEOUT = 40000000;
+
   /**
    * \brief Container for logging communication results.
    */

diff --git a/include/abb_librws/rws_poco_client.h b/include/abb_librws/rws_poco_client.h
@@ -328,10 +328,11 @@ class POCOClient
    *
    * \param uri for the URI (path and query).
    * \param protocol for the WebSocket protocol.
+   * \param timeout for the WebSocket communication timeout [microseconds].
    *
    * \return POCOResult containing the result.
    */
-  POCOResult webSocketConnect(const std::string uri, const std::string protocol);
+  POCOResult webSocketConnect(const std::string uri, const std::string protocol, const Poco::Int64 timeout);
 
   /**
    * \brief A method for receiving a WebSocket frame.

diff --git a/src/rws_client.cpp b/src/rws_client.cpp
@@ -425,7 +425,8 @@ RWSClient::RWSResult RWSClient::startSubscription(SubscriptionResources resource
       evaluation_conditions_.reset();
       evaluation_conditions_.parse_message_into_xml = false;
       evaluation_conditions_.accepted_outcomes.push_back(HTTPResponse::HTTP_SWITCHING_PROTOCOLS);
-      result = evaluatePOCOResult(webSocketConnect(poll, "robapi2_subscription"), evaluation_conditions_);
+      result = evaluatePOCOResult(webSocketConnect(poll, "robapi2_subscription", DEFAULT_SUBSCRIPTION_TIMEOUT),
+                                  evaluation_conditions_);
 
       if(!result.success)
       {

diff --git a/src/rws_poco_client.cpp b/src/rws_poco_client.cpp
@@ -314,7 +314,9 @@ POCOClient::POCOResult POCOClient::makeHTTPRequest(const std::string method,
   return result;
 }
 
-POCOClient::POCOResult POCOClient::webSocketConnect(const std::string uri, const std::string protocol)
+POCOClient::POCOResult POCOClient::webSocketConnect(const std::string uri,
+                                                    const std::string protocol,
+                                                    const Poco::Int64 timeout)
 {
   // Lock the object's mutex. It is released when the method goes out of scope.
   ScopedLock<Mutex> lock(http_mutex_);
@@ -333,7 +335,7 @@ POCOClient::POCOResult POCOClient::webSocketConnect(const std::string uri, const
   {
     result.addHTTPRequestInfo(request);
     p_websocket_ = new WebSocket(http_client_session_, request, response);
-    p_websocket_->setReceiveTimeout(Poco::Timespan(LONG_TIMEOUT));
+    p_websocket_->setReceiveTimeout(Poco::Timespan(timeout));
 
     result.addHTTPResponseInfo(response);
     result.status = POCOResult::OK;