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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20
src/ur_realtime_communication.cpp
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@@ -71,14 +71,11 @@ void UrRealtimeCommunication::halt() {
}
void UrRealtimeCommunication::addCommandToQueue(std::string inp) {
int bytes_written;
if (inp.back() != '\n') {
inp.append("\n");
}
write(sockfd_, inp.c_str(), inp.length());
/*command_string_lock_.lock();
command_ += inp;
command_string_lock_.unlock();*/
bytes_written = write(sockfd_, inp.c_str(), inp.length());
}
void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
@@ -96,6 +93,7 @@ void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
void UrRealtimeCommunication::run() {
uint8_t buf[2048];
int bytes_read;
bzero(buf, 2048);
#ifdef ROS_BUILD
ROS_DEBUG("Realtime port: Got connection");
@@ -104,26 +102,16 @@ void UrRealtimeCommunication::run() {
#endif
connected_ = true;
while (keepalive_) {
read(sockfd_, buf, 2048);
bytes_read = read(sockfd_, buf, 2048);
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
robot_state_->unpack(buf);
/*command_string_lock_.lock();
if (command_.length() != 0) {
write(sockfd_, command_.c_str(), command_.length());
command_ = "";
}*/
if (safety_count_ == safety_count_max_) {
setSpeed(0., 0., 0., 0., 0., 0.);
//write(sockfd_, command_.c_str(), command_.length());
//command_ = "";
}
safety_count_ += 1;
///command_string_lock_.unlock();
}
setSpeed(0., 0., 0., 0., 0., 0.);
write(sockfd_, command_.c_str(), command_.length());
close(sockfd_);
}