added package_header templating to stream class and moved implementation

into header file

src/comm/stream.cpp

@@ -1,68 +0,0 @@
-/*
- * Copyright 2017, 2018 Simon Rasmussen (refactor)
- *
- * Copyright 2015, 2016 Thomas Timm Andersen (original version)
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <endian.h>
-#include <netinet/tcp.h>
-#include <unistd.h>
-#include <cstring>
-
-#include "ur_rtde_driver/log.h"
-#include "ur_rtde_driver/comm/stream.h"
-
-namespace ur_driver
-{
-namespace comm
-{
-bool URStream::write(const uint8_t* buf, size_t buf_len, size_t& written)
-{
-  std::lock_guard<std::mutex> lock(write_mutex_);
-  return TCPSocket::write(buf, buf_len, written);
-}
-
-bool URStream::read(uint8_t* buf, size_t buf_len, size_t& total)
-{
-  std::lock_guard<std::mutex> lock(read_mutex_);
-
-  bool initial = true;
-  uint8_t* buf_pos = buf;
-  size_t remainder = sizeof(int32_t);
-  size_t read = 0;
-
-  while (remainder > 0 && TCPSocket::read(buf_pos, remainder, read))
-  {
-    TCPSocket::setOptions(getSocketFD());
-    if (initial)
-    {
-      remainder = be32toh(*(reinterpret_cast<int32_t*>(buf)));
-      if (remainder >= (buf_len - sizeof(int32_t)))
-      {
-        LOG_ERROR("Packet size %zd is larger than buffer %zu, discarding.", remainder, buf_len);
-        return false;
-      }
-      initial = false;
-    }
-
-    total += read;
-    buf_pos += read;
-    remainder -= read;
-  }
-
-  return remainder == 0;
-}
-}  // namespace comm
-}  // namespace ur_driver