From a87b0ffc69ce109b868592cf4af9c4789f9e7c37 Mon Sep 17 00:00:00 2001
From: pehladik <pehladik@gmail.com>
Date: Mon, 30 Mar 2020 15:37:42 +0200
Subject: [PATCH] keep supervisor alive if robot is killed

---
 .../raspberry/superviseur-robot/lib/comrobot.cpp    | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/software/raspberry/superviseur-robot/lib/comrobot.cpp b/software/raspberry/superviseur-robot/lib/comrobot.cpp
index cbc618a..904f0ba 100644
--- a/software/raspberry/superviseur-robot/lib/comrobot.cpp
+++ b/software/raspberry/superviseur-robot/lib/comrobot.cpp
@@ -155,17 +155,22 @@ Message *ComRobot::Write(Message* msg) {
 
         char buffer[1024] = {0};
         cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush;
-        send(sock, s.c_str(), s.length(), 0);
+        send(sock, s.c_str(), s.length(), MSG_NOSIGNAL);
 
         int valread = read(sock, buffer, 1024);
-        if (valread < 0) {
+
+        if (valread == 0) {
+            cout << "The communication is out of order" << endl;
+            msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
+        } else if (valread < 0) {
+            cout << "Timeout" << endl;
             msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
         } else {
             string s(&buffer[0], valread);
             msgAnswer = StringToMessage(s);
-            //msgAnswer = new Message(MESSAGE_ANSWER_ACK);
+            cout << "Response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
         }
-        cout << "response: " <<  buffer << ", id: " << msgAnswer->GetID() << endl;
+
 #else       
         AddChecksum(s);