Refactor reverse interface #70
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| void ScriptSender::connectionCallback(const int filedescriptor) | ||
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| URCL_LOG_DEBUG("New client connected at FD %d.", filedescriptor); |
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| URCL_LOG_DEBUG("New client connected at FD %d.", filedescriptor); | |
| URCL_LOG_DEBUG("New client connected at file descriptor %d.", filedescriptor); |
Is FD sufficiently known as a term? If yes, then it's ok.
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It's a debug output anyway...
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| void ScriptSender::disconnectionCallback(const int filedescriptor) | ||
| { | ||
| URCL_LOG_DEBUG("Client at FD %d disconnected.", filedescriptor); |
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| URCL_LOG_DEBUG("Client at FD %d disconnected.", filedescriptor); | |
| URCL_LOG_DEBUG("Client at file descriptor %d disconnected.", filedescriptor); |
stefanscherzinger
approved these changes
Jun 1, 2021
It is not really plain communication-related but rather we implemented a control protocol here. In my opinion it makes sense to move this into a new "module", as this will be extended with the changes regarding Cartesian control and trajectory forwarding.
As this is used by external applications such as the ROS driver, I think it makes sense to keep the namespace for backwards compatibility. It also seems a logical choice, as this is part of the actual protocol definition.
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This moves the ReverseInteface and the ScriptSender from the
commnamespace to thecontrolnamespace. As we plan to extend the control protocol structure with the changes from the beta-testing branch, I think it makes sense to clean up things a little beforehand.Note: I decided to keep the
ControlModeenums inside thecommnamespace first because of backwards compatibility, as they are used on application level, and second because they actually define the communication protocol and therefore seem to be not too wrong inside the comm namespace.