Obbart/universal_robots_ros_driver
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Changed uint to unsigned int for better cross-platform performance

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This commit is contained in:
Thomas Timm Andersen
2015-09-08 12:46:13 +02:00
parent 17296c4e6b
commit bbcac405d4
4 changed files with 8 additions and 6 deletions
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4
include/ur_modern_driver/ur_driver.h
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@@ -17,11 +17,13 @@
#include "ur_realtime_communication.h" #include "ur_realtime_communication.h"
class UrDriver { class UrDriver {
private:
double maximum_time_step_;
public: public:
UrRealtimeCommunication* rt_interface_; UrRealtimeCommunication* rt_interface_;
UrDriver(std::condition_variable& msg_cond, std::string host, UrDriver(std::condition_variable& msg_cond, std::string host,
uint safety_count_max = 12); unsigned int safety_count_max = 12);
void start(); void start();
void halt(); void halt();
void setSpeed(double q0, double q1, double q2, double q3, double q4, void setSpeed(double q0, double q1, double q2, double q3, double q4,

6
include/ur_modern_driver/ur_realtime_communication.h
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@@ -32,7 +32,7 @@
class UrRealtimeCommunication { class UrRealtimeCommunication {
private: private:
const double SAMPLETIME_; const double SAMPLETIME_;
uint safety_count_max_; unsigned int safety_count_max_;
int sockfd_; int sockfd_;
struct sockaddr_in serv_addr_; struct sockaddr_in serv_addr_;
struct hostent *server_; struct hostent *server_;
@@ -41,7 +41,7 @@ private:
int flag_; int flag_;
std::recursive_mutex command_string_lock_; std::recursive_mutex command_string_lock_;
std::string command_; std::string command_;
uint safety_count_; unsigned int safety_count_;
void run(); void run();
public: public:
@@ -49,7 +49,7 @@ public:
RobotStateRT* robot_state_; RobotStateRT* robot_state_;
UrRealtimeCommunication(std::condition_variable& msg_cond, std::string host, UrRealtimeCommunication(std::condition_variable& msg_cond, std::string host,
uint safety_count_max = 12); unsigned int safety_count_max = 12);
void start(); void start();
void halt(); void halt();
void setSpeed(double q0, double q1, double q2, double q3, double q4, void setSpeed(double q0, double q1, double q2, double q3, double q4,

2
src/ur_driver.cpp
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@@ -12,7 +12,7 @@
#include "ur_modern_driver/ur_driver.h" #include "ur_modern_driver/ur_driver.h"
UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host, UrDriver::UrDriver(std::condition_variable& msg_cond, std::string host,
uint safety_count_max) { unsigned int safety_count_max) {
rt_interface_ = new UrRealtimeCommunication(msg_cond, host, rt_interface_ = new UrRealtimeCommunication(msg_cond, host,
safety_count_max); safety_count_max);

2
src/ur_realtime_communication.cpp
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@@ -13,7 +13,7 @@
UrRealtimeCommunication::UrRealtimeCommunication( UrRealtimeCommunication::UrRealtimeCommunication(
std::condition_variable& msg_cond, std::string host, std::condition_variable& msg_cond, std::string host,
uint safety_count_max) : unsigned int safety_count_max) :
SAMPLETIME_(0.008) { SAMPLETIME_(0.008) {
robot_state_ = new RobotStateRT(msg_cond); robot_state_ = new RobotStateRT(msg_cond);
bzero((char *) &serv_addr_, sizeof(serv_addr_)); bzero((char *) &serv_addr_, sizeof(serv_addr_));