Do not wait after last attempt to establish a connection

Author: urfeex

src/comm/tcp_socket.cpp

@@ -109,25 +109,24 @@ bool TCPSocket::setup(const std::string& host, const int port, const size_t max_
 
     freeaddrinfo(result);
 
-    if (max_num_tries > 0)
+    if (!connected)
     {
-      if (connect_counter++ >= max_num_tries)
+      state_ = SocketState::Invalid;
+      if (++connect_counter >= max_num_tries && max_num_tries > 0)
       {
         URCL_LOG_ERROR("Failed to establish connection for %s:%d after %d tries", host.c_str(), port, max_num_tries);
-        state_ = SocketState::Invalid;
         return false;
       }
-    }
-
-    if (!connected)
-    {
-      state_ = SocketState::Invalid;
-      std::stringstream ss;
-      ss << "Failed to connect to robot on IP " << host_name
-         << ". Please check that the robot is booted and reachable on " << host_name << ". Retrying in "
-         << std::chrono::duration_cast<std::chrono::duration<float>>(reconnection_time_resolved).count() << " seconds";
-      URCL_LOG_ERROR("%s", ss.str().c_str());
-      std::this_thread::sleep_for(reconnection_time_resolved);
+      else
+      {
+        std::stringstream ss;
+        ss << "Failed to connect to robot on IP " << host_name << ":" << port
+           << ". Please check that the robot is booted and reachable on " << host_name << ". Retrying in "
+           << std::chrono::duration_cast<std::chrono::duration<float>>(reconnection_time_resolved).count()
+           << " seconds.";
+        URCL_LOG_ERROR("%s", ss.str().c_str());
+        std::this_thread::sleep_for(reconnection_time_resolved);
+      }
     }
   }
   setupOptions();

src/rtde/rtde_client.cpp

@@ -28,7 +28,9 @@
 
 #include "ur_client_library/rtde/rtde_client.h"
 #include "ur_client_library/exceptions.h"
+#include "ur_client_library/log.h"
 #include <algorithm>
+#include <chrono>
 
 namespace urcl
 {
@@ -88,9 +90,11 @@ bool RTDEClient::init(const size_t max_num_tries, const std::chrono::millisecond
     if (client_state_ == ClientState::INITIALIZED)
       return true;
 
-    URCL_LOG_ERROR("Failed to initialize RTDE client, retrying in 10 seconds");
-    std::this_thread::sleep_for(std::chrono::seconds(10));
-    attempts++;
+    if (++attempts < MAX_INITIALIZE_ATTEMPTS)
+    {
+      URCL_LOG_ERROR("Failed to initialize RTDE client, retrying in 10 seconds");
+      std::this_thread::sleep_for(std::chrono::seconds(10));
+    }
   }
   std::stringstream ss;
   ss << "Failed to initialize RTDE client after " << MAX_INITIALIZE_ATTEMPTS << " attempts";
@@ -241,7 +245,7 @@ void RTDEClient::queryURControlVersion()
     else
     {
       std::stringstream ss;
-      ss << "Did not receive protocol negotiation answer from robot. Message received instead: " << std::endl
+      ss << "Did not receive URControl version from robot. Message received instead: " << std::endl
          << package->toString() << ". Retrying...";
       num_retries++;
       URCL_LOG_WARN("%s", ss.str().c_str());