Some changes from corso 2015

common/command/command.c

@@ -299,6 +299,21 @@ bool command_fd_set(struct command *command, fd_set *set, int *high)
 	return true;
 }
 
+int command_handle_err(struct command *command, fd_set *set)
+{
+	if (FD_ISSET(command->fd, set)) {
+		log_send(LOG_T_DEBUG, "Error, closing %d", command->fd);
+		if (command->fd >= 0)
+			close(command->fd);
+		command->fd = -1;
+
+		if (command->handler_close)
+			command->handler_close(command);
+	}
+
+	return 0;
+}
+
 int command_handle(struct command *command, fd_set *set)
 {
 	if (FD_ISSET(command->fd, set)) {

common/command/command.h

@@ -138,6 +138,7 @@ int command_id_set(struct command *command, char *id);
 
 bool command_fd_set(struct command *command, fd_set *set, int *high);
 int command_handle(struct command *command, fd_set *set);
+int command_handle_err(struct command *command, fd_set *set);
 enum command_state command_state_get(struct command *command);
 void command_autorecover(struct command *command, bool value);
 

controller/block/block_pid_aw.c

@@ -102,6 +102,7 @@ static void pid_aw_calculate(struct controller_block *pid)
 		outp = 0;
 		outi = 0;
 		outd = 0;
+		priv->previous = 0;
 	}
 	
 	priv->outp = outp;