Obbart/universal_robots_ros_driver
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Adopted roscpp code style and naming convention

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This commit is contained in:
Simon Rasmussen
2017-03-01 13:59:48 +01:00
parent e4bc40fc09
commit 474f469e97
44 changed files with 5097 additions and 4891 deletions
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41
include/ur_modern_driver/ur_communication.h
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@@ -19,13 +19,7 @@
#ifndef UR_COMMUNICATION_H_
#define UR_COMMUNICATION_H_
#include "do_output.h"
#include "robot_state.h"
#include <chrono>
#include <condition_variable>
#include <fcntl.h>
#include <iostream>
#include <mutex>
#include <netdb.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
@@ -36,27 +30,34 @@
#include <sys/time.h>
#include <sys/types.h>
#include <sys/types.h>
#include <thread>
#include <unistd.h>
#include <chrono>
#include <condition_variable>
#include <iostream>
#include <mutex>
#include <thread>
#include <vector>
#include "do_output.h"
#include "robot_state.h"
class UrCommunication {
class UrCommunication
{
private:
int pri_sockfd_, sec_sockfd_;
struct sockaddr_in pri_serv_addr_, sec_serv_addr_;
struct hostent* server_;
bool keepalive_;
std::thread comThread_;
int flag_;
void run();
int pri_sockfd_, sec_sockfd_;
struct sockaddr_in pri_serv_addr_, sec_serv_addr_;
struct hostent* server_;
bool keepalive_;
std::thread comThread_;
int flag_;
void run();
public:
bool connected_;
RobotState* robot_state_;
bool connected_;
RobotState* robot_state_;
UrCommunication(std::condition_variable& msg_cond, std::string host);
bool start();
void halt();
UrCommunication(std::condition_variable& msg_cond, std::string host);
bool start();
void halt();
};
#endif /* UR_COMMUNICATION_H_ */