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Ive changed mrpd_recvmsgbuf to be non-blocking. Sometimes FD_ISSET would report that there was a packet to be received, and then I would get stuck on recvmsg. 

From select() manual we have this:
Under Linux, select() may report a socket file descriptor as "ready for reading", while nevertheless a subsequent read blocks.  This could for example happen when data has arrived but upon examination
       has wrong checksum and is discarded.  There may be other circumstances in which a file descriptor is spuriously reported as ready.  Thus it may be safer to use O_NONBLOCK on sockets  that  should  not
       block.
Perhaps change the if condition to (bytes < 0 && errno != EAGAIN) to avoid logging instances of EAGAIN