Obbart/universal_robots_ros_driver
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Improved stream implementation

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This commit is contained in:
Simon Rasmussen
2017-04-13 10:40:27 +02:00
parent 06b2db45bf
commit 1e34cdaa37
2 changed files with 16 additions and 2 deletions
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5
include/ur_modern_driver/ur/stream.h
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@@ -2,6 +2,7 @@
#include <netdb.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <mutex>
#include <atomic>
#include <string>
@@ -15,6 +16,7 @@ private:
std::atomic<bool> initialized_;
std::atomic<bool> stopping_;
std::mutex send_mutex_, receive_mutex_;
public:
URStream(std::string& host, int port) : host_(host), port_(port), initialized_(false), stopping_(false)
@@ -28,7 +30,8 @@ public:
bool connect();
void disconnect();
void reconnect();
ssize_t send(uint8_t* buf, size_t buf_len);
ssize_t send(const uint8_t* buf, size_t buf_len);
ssize_t receive(uint8_t* buf, size_t buf_len);
};