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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24
src/ur/server.cpp
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@@ -1,5 +1,6 @@
#include <cstring>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include <unistd.h>
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/ur/server.h"
@@ -19,8 +20,18 @@ void URServer::setOptions(int socket_fd)
std::string URServer::getIP()
{
sockaddr_in name;
socklen_t len = sizeof(name);
int res = ::getsockname(getSocketFD(), (sockaddr*)&name, &len);
if(res < 0)
{
LOG_ERROR("Could not get local IP");
return std::string();
}
char buf[128];
int res = ::gethostname(buf, sizeof(buf));
inet_ntop(AF_INET, &name.sin_addr, buf, sizeof(buf));
return std::string(buf);
}
@@ -28,7 +39,6 @@ bool URServer::bind()
{
std::string empty;
bool res = TCPSocket::setup(empty, port_);
state_ = TCPSocket::getState();
if(!res)
return false;
@@ -41,7 +51,7 @@ bool URServer::bind()
bool URServer::accept()
{
if(state_ != SocketState::Connected || client_.getSocketFD() > 0)
if(TCPSocket::getState() != SocketState::Connected || client_.getSocketFD() > 0)
return false;
struct sockaddr addr;
@@ -54,6 +64,14 @@ bool URServer::accept()
return client_.setSocketFD(client_fd);
}
void URServer::disconnectClient()
{
if(client_.getState() != SocketState::Connected)
return;
client_.close();
}
bool URServer::write(const uint8_t* buf, size_t buf_len, size_t &written)
{
return client_.write(buf, buf_len, written);