Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 01:50:46 +02:00
Code Releases Activity

Sending commands to the robot is now async of reading

Browse Source
This commit is contained in:
Thomas Timm Andersen
2015-09-17 09:50:34 +02:00
parent 8e4cb945d6
commit 69feb3937d
1 changed files with 9 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/ur_realtime_communication.cpp
View File

@@ -74,9 +74,11 @@ void UrRealtimeCommunication::addCommandToQueue(std::string inp) {
if (inp.back() != '\n') {
inp.append("\n");
}
command_string_lock_.lock();
write(sockfd_, inp.c_str(), inp.length());
/*command_string_lock_.lock();
command_ += inp;
command_string_lock_.unlock();
command_string_lock_.unlock();*/
}
void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
@@ -106,18 +108,18 @@ void UrRealtimeCommunication::run() {
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int));
robot_state_->unpack(buf);
command_string_lock_.lock();
/*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_ = "";
//write(sockfd_, command_.c_str(), command_.length());
//command_ = "";
}
safety_count_ += 1;
command_string_lock_.unlock();
///command_string_lock_.unlock();
}
setSpeed(0., 0., 0., 0., 0., 0.);