Improved stream implementation

src/ur/stream.cpp

@@ -73,13 +73,22 @@ void URStream::disconnect()
   initialized_ = false;
 }
 
-ssize_t URStream::send(uint8_t* buf, size_t buf_len)
+void URStream::reconnect()
+{
+  disconnect();
+  stopping_ = false;
+  connect();
+}
+
+ssize_t URStream::send(const uint8_t* buf, size_t buf_len)
 {
   if (!initialized_)
     return -1;
   if (stopping_)
     return 0;
 
+  std::lock_guard<std::mutex> lock(send_mutex_);
+
   size_t total = 0;
   size_t remaining = buf_len;
 
@@ -104,6 +113,8 @@ ssize_t URStream::receive(uint8_t* buf, size_t buf_len)
   if (stopping_)
     return 0;
 
+  std::lock_guard<std::mutex> lock(receive_mutex_);    
+
   size_t remainder = sizeof(int32_t);
   uint8_t* buf_pos = buf;
   bool initial = true;