Obbart/universal_robots_ros_driver
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Removed commented code and non-RT socket write

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This commit is contained in:
Thomas Timm Andersen
2015-09-17 13:59:42 +02:00
parent 0310193b15
commit 36c8b70ba0
5 changed files with 8 additions and 39 deletions
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6
src/robot_state.cpp
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@@ -19,7 +19,7 @@ double RobotState::ntohd(uint64_t nf) {
memcpy(&x, &nf, sizeof(x));
return x;
}
int RobotState::unpack(uint8_t* buf, unsigned int buf_length) {
void RobotState::unpack(uint8_t* buf, unsigned int buf_length) {
/* Returns missing bytes to unpack a message, or 0 if all data was parsed */
unsigned int offset = 0;
while (buf_length > offset) {
@@ -28,7 +28,7 @@ int RobotState::unpack(uint8_t* buf, unsigned int buf_length) {
memcpy(&len, &buf[offset], sizeof(len));
len = ntohl(len);
if (len + offset > buf_length) {
return (len + offset - buf_length);
return ;
}
memcpy(&message_type, &buf[offset + sizeof(len)], sizeof(message_type));
switch (message_type) {
@@ -46,7 +46,7 @@ int RobotState::unpack(uint8_t* buf, unsigned int buf_length) {
offset += len;
}
return 0;
return;
}
void RobotState::unpackRobotMessage(uint8_t * buf, unsigned int offset,