Obbart/universal_robots_ros_driver
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Tested producer part with real data

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This commit is contained in:
Felix Mauch
2019-04-09 18:19:22 +02:00
parent 2f0b8eae1a
commit 51ac7ddb91
12 changed files with 119 additions and 130 deletions
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4
include/ur_rtde_driver/comm/stream.h
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@@ -130,7 +130,7 @@ bool URStream<HeaderT>::read(uint8_t* buf, const size_t buf_len, size_t& total)
bool initial = true;
uint8_t* buf_pos = buf;
size_t remainder = sizeof(HeaderT::_package_size_type);
size_t remainder = sizeof(typename HeaderT::_package_size_type);
size_t read = 0;
while (remainder > 0 && TCPSocket::read(buf_pos, remainder, read))
@@ -139,7 +139,7 @@ bool URStream<HeaderT>::read(uint8_t* buf, const size_t buf_len, size_t& total)
if (initial)
{
remainder = HeaderT::getPackageLength(buf);
if (remainder >= (buf_len - sizeof(HeaderT::_package_size_type)))
if (remainder >= (buf_len - sizeof(typename HeaderT::_package_size_type)))
{
LOG_ERROR("Packet size %zd is larger than buffer %zu, discarding.", remainder, buf_len);
return false;