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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4
src/ur/server.cpp
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@@ -76,7 +76,7 @@ bool URServer::bind()
bool URServer::accept()
{
if (TCPSocket::getState() != SocketState::Connected || client_.getSocketFD() > 0)
if (TCPSocket::getState() != comm::SocketState::Connected || client_.getSocketFD() > 0)
return false;
struct sockaddr addr;
@@ -98,7 +98,7 @@ bool URServer::accept()
void URServer::disconnectClient()
{
if (client_.getState() != SocketState::Connected)
if (client_.getState() != comm::SocketState::Connected)
return;
client_.close();

65
src/ur/stream.cpp
View File

@@ -1,65 +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/ur/stream.h"
namespace ur_rtde_driver
{
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 ur_rtde_driver