Obbart/universal_robots_ros_driver
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Tested and bugfixed masterboard data parsing

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Thomas Timm Andersen
2015-09-16 13:38:21 +02:00
parent 699bc08ac6
commit fb95d2188d
7 changed files with 84 additions and 47 deletions
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7
include/ur_modern_driver/robot_state.h
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@@ -14,6 +14,7 @@
#include <string.h>
#include <mutex>
#include <condition_variable>
#include <netinet/in.h>
namespace message_types {
enum message_type {
@@ -58,11 +59,11 @@ struct version_message {
int8_t source;
int8_t robot_message_type;
int8_t project_name_size;
char* project_name;
char project_name[15];
uint8_t major_version;
uint8_t minor_version;
int svn_revision;
char* build_date;
char build_date[25];
};
struct masterboard_data {
@@ -95,7 +96,7 @@ private:
version_message version_msg_;
masterboard_data mb_data_;
std::mutex val_lock_; // Locks the variables while unpack parses data;
std::recursive_mutex val_lock_; // Locks the variables while unpack parses data;
std::condition_variable* pMsg_cond_; //Signals that new vars are available
bool new_data_available_; //to avoid spurious wakes

2
include/ur_modern_driver/ur_communication.h
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@@ -32,7 +32,7 @@
class UrCommunication {
private:
int sockfd_;
int pri_sockfd_, sec_sockfd_;
struct sockaddr_in pri_serv_addr_, sec_serv_addr_;
struct hostent *server_;
bool keepalive_;