ideo/core-firmware — pull request #1 by trptcolin (2014-02-18 18:15:05+00:00)
Title: Receive stability

This gets me to a much better place in receiving.

- I'm still seeing an occasional dropped message (at 5hz), but not very many at all, usually 1 at a time.
- I can kill the server and restart it, and the lemma reconnects and receives messages.
- I can start the lemma with the server down, and when the server comes up the lemma gets connected and receives messages.

I still suspect that the stuff on spark's master has better things going on that may allow us to drop even less, but I haven't been able to successfully merge and build a lemma that works. I suspect it's a combination of things: even a completely fresh checkout from their 3 repos doesn't give me something working.

We do have a fundamental limitation in our architecture: that every incoming message from the Noam server needs to have a TCP socket set up & torn down for it. That make the code a TON simpler than it would be otherwise, and it works OK for 5hz, but there is an overhead there if we want to go lots faster.