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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16
src/ur_communication.cpp
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@@ -133,15 +133,6 @@ void UrCommunication::halt() {
comThread_.join();
}
void UrCommunication::addCommandToQueue(std::string inp) {
if (inp.back() != '\n') {
inp.append("\n");
}
command_string_lock_.lock();
command_ += inp;
command_string_lock_.unlock();
}
void UrCommunication::run() {
uint8_t buf[2048];
unsigned int bytes_read;
@@ -152,13 +143,6 @@ void UrCommunication::run() {
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
robot_state_->unpack(buf, bytes_read);
command_string_lock_.lock();
if (command_.length() != 0) {
write(sec_sockfd_, command_.c_str(), command_.length());
command_ = "";
}
command_string_lock_.unlock();
}
//wait for some traffic so the UR socket doesn't die in version 3.1.
std::this_thread::sleep_for(std::chrono::milliseconds(500));