Set timeouts on boardd and ubloxd receive sockets

old-commit-hash: 28110ea880

selfdrive/boardd/boardd.cc

@@ -586,12 +586,19 @@ void *can_send_thread(void *crap) {
   Context * context = Context::create();
   SubSocket * subscriber = SubSocket::create(context, "sendcan");
   assert(subscriber != NULL);
+  subscriber->setTimeout(100);
 
   // run as fast as messages come in
   while (!do_exit) {
     Message * msg = subscriber->receive();
 
-    if (msg){
+    if (!msg){
+      if (errno == EINTR) {
+        do_exit = true;
+      }
+      continue;
+    }
+
     auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
     memcpy(amsg.begin(), msg->getData(), msg->getSize());
 
@@ -600,7 +607,6 @@ void *can_send_thread(void *crap) {
     can_send(event);
     delete msg;
   }
-  }
 
   delete subscriber;
   delete context;

selfdrive/locationd/ubloxd_main.cc

@@ -37,12 +37,16 @@ int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func)
   Context * context = Context::create();
   SubSocket * subscriber = SubSocket::create(context, "ubloxRaw");
   assert(subscriber != NULL);
+  subscriber->setTimeout(100);
 
   PubMaster pm({"ubloxGnss", "gpsLocationExternal"});
 
   while (!do_exit) {
     Message * msg = subscriber->receive();
     if (!msg){
+      if (errno == EINTR) {
+        do_exit = true;
+      }
       continue;
     }