Obbart/universal_robots_ros_driver
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Code Releases Activity

Added reconnect feature on RT port

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This commit is contained in:
Thomas Timm Andersen
2015-09-24 15:36:54 +02:00
parent d5ea350145
commit 7c6080e89e
6 changed files with 118 additions and 26 deletions
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25
src/robot_state_RT.cpp
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@@ -41,23 +41,33 @@ RobotStateRT::RobotStateRT(std::condition_variable& msg_cond) {
v_robot_ = 0.0;
i_robot_ = 0.0;
v_actual_.assign(6, 0.0);
new_data_available_ = false;
data_published_ = false;
controller_updated_ = false;
pMsg_cond_ = &msg_cond;
}
RobotStateRT::~RobotStateRT() {
/* Make sure nobody is waiting after this thread is destroyed */
new_data_available_ = true;
data_published_ = true;
controller_updated_ = true;
pMsg_cond_->notify_all();
}
bool RobotStateRT::getNewDataAvailable() {
return new_data_available_;
void RobotStateRT::setDataPublished() {
data_published_ = false;
}
bool RobotStateRT::getDataPublished() {
return data_published_;
}
void RobotStateRT::finishedReading() {
new_data_available_ = false;
void RobotStateRT::setControllerUpdated() {
controller_updated_ = false;
}
bool RobotStateRT::getControllerUpdated() {
return controller_updated_;
}
double RobotStateRT::ntohd(uint64_t nf) {
double x;
@@ -394,7 +404,8 @@ void RobotStateRT::unpack(uint8_t * buf) {
v_actual_ = unpackVector(buf, offset, 6);
}
val_lock_.unlock();
new_data_available_ = true;
controller_updated_ = true;
data_published_ = true;
pMsg_cond_->notify_all();
}