Obbart/universal_robots_ros_driver
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Code Releases Activity

Fixed #9. Now data streaming is much more regular

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This commit is contained in:
Thomas Timm Andersen
2015-10-27 11:43:45 +01:00
parent d31fe29d65
commit c3f3da922a
2 changed files with 13 additions and 3 deletions
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10
src/ur_communication.cpp
View File

@@ -44,10 +44,14 @@ UrCommunication::UrCommunication(std::condition_variable& msg_cond,
flag_ = 1; flag_ = 1;
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int)); sizeof(int));
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int));
setsockopt(pri_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, setsockopt(pri_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int)); sizeof(int));
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int)); sizeof(int));
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int));
setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int)); sizeof(int));
fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK); fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK);
@@ -69,7 +73,7 @@ bool UrCommunication::start() {
} }
print_debug("Acquire firmware version: Got connection"); print_debug("Acquire firmware version: Got connection");
bytes_read = read(pri_sockfd_, buf, 512); bytes_read = read(pri_sockfd_, buf, 512);
setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, setsockopt(pri_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int)); sizeof(int));
robot_state_->unpack(buf, bytes_read); robot_state_->unpack(buf, bytes_read);
//wait for some traffic so the UR socket doesn't die in version 3.1. //wait for some traffic so the UR socket doesn't die in version 3.1.
@@ -124,7 +128,7 @@ void UrCommunication::run() {
select(sec_sockfd_ + 1, &readfds, NULL, NULL, &timeout); select(sec_sockfd_ + 1, &readfds, NULL, NULL, &timeout);
bytes_read = read(sec_sockfd_, buf, 2048); // usually only up to 1295 bytes bytes_read = read(sec_sockfd_, buf, 2048); // usually only up to 1295 bytes
if (bytes_read > 0) { if (bytes_read > 0) {
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK,
(char *) &flag_, sizeof(int)); (char *) &flag_, sizeof(int));
robot_state_->unpack(buf, bytes_read); robot_state_->unpack(buf, bytes_read);
} else { } else {
@@ -143,6 +147,8 @@ void UrCommunication::run() {
flag_ = 1; flag_ = 1;
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int)); sizeof(int));
setsockopt(sec_sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int));
setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, setsockopt(sec_sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int)); sizeof(int));
fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK); fcntl(sec_sockfd_, F_SETFL, O_NONBLOCK);

6
src/ur_realtime_communication.cpp
View File

@@ -36,6 +36,7 @@ UrRealtimeCommunication::UrRealtimeCommunication(
serv_addr_.sin_port = htons(30003); serv_addr_.sin_port = htons(30003);
flag_ = 1; flag_ = 1;
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int)); setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, sizeof(int));
setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_, sizeof(int));
setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int)); setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, sizeof(int));
fcntl(sockfd_, F_SETFL, O_NONBLOCK); fcntl(sockfd_, F_SETFL, O_NONBLOCK);
connected_ = false; connected_ = false;
@@ -121,7 +122,7 @@ void UrRealtimeCommunication::run() {
select(sockfd_ + 1, &readfds, NULL, NULL, &timeout); select(sockfd_ + 1, &readfds, NULL, NULL, &timeout);
bytes_read = read(sockfd_, buf, 2048); bytes_read = read(sockfd_, buf, 2048);
if (bytes_read > 0) { if (bytes_read > 0) {
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int)); sizeof(int));
robot_state_->unpack(buf); robot_state_->unpack(buf);
if (safety_count_ == safety_count_max_) { if (safety_count_ == safety_count_max_) {
@@ -143,6 +144,9 @@ void UrRealtimeCommunication::run() {
flag_ = 1; flag_ = 1;
setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_, setsockopt(sockfd_, IPPROTO_TCP, TCP_NODELAY, (char *) &flag_,
sizeof(int)); sizeof(int));
setsockopt(sockfd_, IPPROTO_TCP, TCP_QUICKACK, (char *) &flag_,
sizeof(int));
setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_, setsockopt(sockfd_, SOL_SOCKET, SO_REUSEADDR, (char *) &flag_,
sizeof(int)); sizeof(int));
fcntl(sockfd_, F_SETFL, O_NONBLOCK); fcntl(sockfd_, F_SETFL, O_NONBLOCK);