Obbart/universal_robots_ros_driver
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Sending commands to the robot is now async of reading

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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
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16
src/ur_realtime_communication.cpp
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@@ -74,9 +74,11 @@ void UrRealtimeCommunication::addCommandToQueue(std::string inp) {
if (inp.back() != '\n') { if (inp.back() != '\n') {
inp.append("\n"); inp.append("\n");
} }
command_string_lock_.lock(); write(sockfd_, inp.c_str(), inp.length());
/*command_string_lock_.lock();
command_ += inp; command_ += inp;
command_string_lock_.unlock(); command_string_lock_.unlock();*/
} }
void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2, void UrRealtimeCommunication::setSpeed(double q0, double q1, double q2,
@@ -106,18 +108,18 @@ void UrRealtimeCommunication::run() {
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int)); sizeof(int));
robot_state_->unpack(buf); robot_state_->unpack(buf);
command_string_lock_.lock(); /*command_string_lock_.lock();
if (command_.length() != 0) { if (command_.length() != 0) {
write(sockfd_, command_.c_str(), command_.length()); write(sockfd_, command_.c_str(), command_.length());
command_ = ""; command_ = "";
} }*/
if (safety_count_ == safety_count_max_) { if (safety_count_ == safety_count_max_) {
setSpeed(0., 0., 0., 0., 0., 0.); setSpeed(0., 0., 0., 0., 0., 0.);
write(sockfd_, command_.c_str(), command_.length()); //write(sockfd_, command_.c_str(), command_.length());
command_ = ""; //command_ = "";
} }
safety_count_ += 1; safety_count_ += 1;
command_string_lock_.unlock(); ///command_string_lock_.unlock();
} }
setSpeed(0., 0., 0., 0., 0., 0.); setSpeed(0., 0., 0., 0., 0., 0.);