Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-12 11:00:47 +02:00
Code Releases Activity

Moved getDataPackage functionality to rtde_client

Browse Source
This commit is contained in:
Felix Mauch
2019-09-25 11:35:53 +02:00
committed by Tristan Schnell
parent ac28aa43c6
commit 62146a49ae
4 changed files with 17 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
ur_rtde_driver/src/rtde/rtde_client.cpp
View File

@@ -146,10 +146,19 @@ std::vector<std::string> RTDEClient::readRecipe(const std::string& recipe_file)
return recipe;
}
bool RTDEClient::getDataPackage(std::unique_ptr<comm::URPackage<PackageHeader>>& data_package,
std::chrono::milliseconds timeout)
std::unique_ptr<rtde_interface::DataPackage> RTDEClient::getDataPackage(std::chrono::milliseconds timeout)
{
return pipeline_.getLatestProduct(data_package, timeout);
std::unique_ptr<comm::URPackage<rtde_interface::PackageHeader>> urpackage;
if (pipeline_.getLatestProduct(urpackage, timeout))
{
rtde_interface::DataPackage* tmp = dynamic_cast<rtde_interface::DataPackage*>(urpackage.get());
if (tmp != nullptr)
{
urpackage.release();
return std::unique_ptr<rtde_interface::DataPackage>(tmp);
}
}
return std::unique_ptr<rtde_interface::DataPackage>(nullptr);
}
std::string RTDEClient::getIP() const