Obbart/universal_robots_ros_driver
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put communication-related classes to namespace

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This commit is contained in:
Felix Mauch
2019-04-01 14:54:39 +02:00
parent 5840d4f406
commit 31746259cf
21 changed files with 108 additions and 89 deletions
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16
include/ur_rtde_driver/ur/producer.h
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@@ -18,22 +18,22 @@
#pragma once
#include <chrono>
#include "ur_rtde_driver/pipeline.h"
#include "ur_rtde_driver/ur/parser.h"
#include "ur_rtde_driver/ur/stream.h"
#include "ur_rtde_driver/comm/pipeline.h"
#include "ur_rtde_driver/comm/parser.h"
#include "ur_rtde_driver/comm/stream.h"
namespace ur_rtde_driver
{
template <typename T>
class URProducer : public IProducer<T>
class URProducer : public comm::IProducer<T>
{
private:
URStream& stream_;
URParser<T>& parser_;
comm::URStream& stream_;
comm::URParser<T>& parser_;
std::chrono::seconds timeout_;
public:
URProducer(URStream& stream, URParser<T>& parser) : stream_(stream), parser_(parser), timeout_(1)
URProducer(comm::URStream& stream, comm::URParser<T>& parser) : stream_(stream), parser_(parser), timeout_(1)
{
}
@@ -50,7 +50,7 @@ public:
stream_.disconnect();
}
bool tryGet(std::vector<unique_ptr<T>>& products)
bool tryGet(std::vector<std::unique_ptr<T>>& products)
{
// 4KB should be enough to hold any packet received from UR
uint8_t buf[4096];