Obbart/universal_robots_ros_driver
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This commit is contained in:
Simon Rasmussen
2017-07-07 15:26:39 +02:00
parent 0479c047d3
commit f35f40b45d
12 changed files with 114 additions and 71 deletions
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6
include/ur_modern_driver/tcp_socket.h
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@@ -29,8 +29,6 @@ protected:
bool setup(std::string &host, int port);
void close();
public:
TCPSocket();
@@ -41,6 +39,10 @@ public:
int getSocketFD() { return socket_fd_; }
bool setSocketFD(int socket_fd);
std::string getIP();
bool read(uint8_t* buf, size_t buf_len, size_t &read);
bool write(const uint8_t* buf, size_t buf_len, size_t &written);
void close();
};