[DarthCoder]

I've been trying to get TCP connections working with the cRIO. I have an Android app and robot code setup. I've gotten them to connect to each other, but every time I spawn a process it crashes the whole thing. This is my code, is there any options that I'm getting wrong?

App code:

public class BotSmithsAppActivity extends Activity 
{
	static final int PORT_NUMBER = 1500;
	static final String IP_ADDR = "10.43.9.2";
	
	static final int MOVE_ARM_UP = 0;
	static final int MOVE_ARM_DOWN = 1;
	
	//Inits socket
    @Override
    public void onCreate(Bundle savedInstanceState)
    {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.main);
        
        //Arm up button
        final Button upButton = (Button)findViewById(R.id.ARM_UP);
        upButton.setOnClickListener(new View.OnClickListener()
        {
            public void onClick(View v) 
            {
                sendAction(MOVE_ARM_UP);
            }
        });
        
        //Arm down button
        final Button downButton = (Button)findViewById(R.id.ARM_DOWN);
        downButton.setOnClickListener(new View.OnClickListener()
        {
            public void onClick(View v) 
            {
                sendAction(MOVE_ARM_DOWN);
            }
        });
    }
    
    void sendAction(int actionType)
    {
    	try
        {
			Socket s = new Socket(IP_ADDR, PORT_NUMBER);
			OutputStream out = s.getOutputStream();
			
			out.write(actionType);
			
			s.close();
		} 
        catch (UnknownHostException e) 
		{
			e.printStackTrace();
		} 
        catch (IOException e) 
		{
			e.printStackTrace();
		}
    }
}

Robot code:

VOID tcpServerWorkTask(int sFd, char* address, u_short port);

#define MOVE_ARM_UP 0
#define MOVE_ARM_DOWN 1

class AppControl;

AppControl* g_appCtrl = NULL;

class AppControl : public IterativeRobot
{
public:
	
	static const unsigned int MAX_CONNECTIONS = 1;
	static const unsigned int SERVER_WORK_PRIORITY = 100;
	static const unsigned int SERVER_STACK_SIZE = 1000;
	
	sockaddr_in m_serverAddr;
	int m_sFd;
	
	char m_workName[16];
	
	std::auto_ptr<Jaguar> m_armMotor;
	
	AppControl(void)
		:m_disabled(false)
	{
		g_appCtrl = this;
		
		m_armMotor.reset(new Jaguar(3));
	}

	void TeleopInit()
	{
		m_disabled = false;
		
		int sockAddrSize = sizeof(struct sockaddr_in);
		
		//Fill out server address
		m_serverAddr.sin_family = AF_INET;
		m_serverAddr.sin_len = sockAddrSize;
		m_serverAddr.sin_port = 1500;
		m_serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
		
		//Init socket.
		if ((m_sFd = socket(AF_INET, SOCK_STREAM, 0)) == ERROR) 
		{ 
			perror("socket"); 
			printf("\n Error connecting to socket.\n\n");
			return;
		}
		printf("Initialized socket.\n");
		
		//Bind to socket
		if (bind(m_sFd, (struct sockaddr*)&m_serverAddr, sockAddrSize) == ERROR) 
		{ 
			perror("bind");
			close(m_sFd);
			printf("\n Error binding to socket.\n\n");
			return;
		}
		printf("Bound socket\n");
		
		//Set socket to listen for connections.
		if (listen(m_sFd, MAX_CONNECTIONS) == ERROR)
		{ 
			perror("listen");
			close(m_sFd);
			printf("\n Error setting socket to listen mode.\n\n");
			return;
		}
		printf("Listening on socket 1500\n");
		
		//Wait for connections
		FOREVER
		{
			if ( m_disabled )
			{
				break;
			}
			
			sockaddr_in clientAddr;
			int newFd = 0;
			
			//Accept connection from client
			if ((newFd = accept (m_sFd, (struct sockaddr*)&clientAddr, &sockAddrSize)) == ERROR) 
			{
				perror("accept");
				close(m_sFd);
				printf("\n Error accepting connection\n\n");
				return;
			}
			
			//Spawn work task
			printf("Spawning work task\n");
			if (taskSpawn(m_workName, SERVER_WORK_PRIORITY, 0, SERVER_STACK_SIZE,
			(FUNCPTR)tcpServerWorkTask, newFd,
			(int)inet_ntoa(clientAddr.sin_addr), ntohs(clientAddr.sin_port), 
			0, 0, 0, 0, 0, 0, 0) == ERROR)
			{ 
				perror("taskSpawn");
				printf("\nError spawning task closing new file descriptor\n\n");
				close(newFd);
			}
		}
		
		printf("closing server socket.\n");
		close(m_sFd);
	}
	
	void TeleopDisabled()
	{
		m_disabled = true;
	}
	
	bool m_disabled;
	
	friend VOID tcpServerWorkTask(int sFd, char* address, u_short port);
};

VOID tcpServerWorkTask(int sFd, char* address, u_short port)
{
	unsigned int i = 0;
	read(sFd, (char*)&i, sizeof(unsigned int));
	
	std::cout << "Data: " << i << "\n";
	std::cout << "Port: " << (int)port << "\n";
	std::cout << "Address: " << address << "\n";
 	
	if ( g_appCtrl != NULL )
	{
		if ( i == MOVE_ARM_UP )
		{
			printf("Arm up\n");
			//g_appCtrl->m_armMotor->Set(-0.5f);
		}
		else if ( i == MOVE_ARM_DOWN )
		{
			printf("Arm down\n");
			//g_appCtrl->m_armMotor->Set(0.5f);
		}
	}
	
	printf("freeing address\n");
	free(address);
	printf("Closing file descriptor.\n");
	close(sFd);
	printf("Closed file descriptor.\n");
}

START_ROBOT_CLASS(AppControl);

I left out includes and imports. I get some Task Exited error. The error code is 1114118.