Obbart/universal_robots_ros_driver
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Clang-format run

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This commit is contained in:
Simon Rasmussen
2017-07-09 02:54:49 +02:00
parent 577fcdbf98
commit 3a5fa23f6b
31 changed files with 343 additions and 343 deletions
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15
include/ur_modern_driver/ur/producer.h
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@@ -35,31 +35,30 @@ public:
// 4KB should be enough to hold any packet received from UR
uint8_t buf[4096];
size_t read = 0;
//expoential backoff reconnects
while(true)
// expoential backoff reconnects
while (true)
{
if(stream_.read(buf, sizeof(buf), read))
if (stream_.read(buf, sizeof(buf), read))
{
//reset sleep amount
// reset sleep amount
timeout_ = std::chrono::seconds(1);
break;
}
if(stream_.closed())
if (stream_.closed())
return false;
LOG_WARN("Failed to read from stream, reconnecting in %ld seconds...", timeout_.count());
std::this_thread::sleep_for(timeout_);
if(stream_.connect())
if (stream_.connect())
continue;
auto next = timeout_ * 2;
if(next <= std::chrono::seconds(120))
if (next <= std::chrono::seconds(120))
timeout_ = next;
}
BinParser bp(buf, read);
return parser_.parse(bp, products);
}