Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

minor improvements

Browse Source
This commit is contained in:
Simon Rasmussen
2017-07-07 19:15:17 +02:00
parent 93bf3487dd
commit f3e11bfc29
2 changed files with 8 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
include/ur_modern_driver/ur/server.h
View File

@@ -24,6 +24,7 @@ protected:
public: public:
URServer(int port); URServer(int port);
~URServer();
std::string getIP(); std::string getIP();
bool bind(); bool bind();
bool accept(); bool accept();

7
src/ur/server.cpp
View File

@@ -10,6 +10,11 @@ URServer::URServer(int port)
{ {
} }
URServer::~URServer()
{
TCPSocket::close();
}
void URServer::setOptions(int socket_fd) void URServer::setOptions(int socket_fd)
{ {
TCPSocket::setOptions(socket_fd); TCPSocket::setOptions(socket_fd);
@@ -61,6 +66,8 @@ bool URServer::accept()
if(client_fd <= 0) if(client_fd <= 0)
return false; return false;
setOptions(client_fd);
return client_.setSocketFD(client_fd); return client_.setSocketFD(client_fd);
} }