adapt to new socketcan_interface API

ScazLab · Oct 23, 2018 · ec88642 · ec88642
1 parent b8109bb
commit ec88642
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/...tiq_3f_gripper_control/include/robotiq_3f_gripper_control/robotiq_3f_gripper_can_client.h b/...tiq_3f_gripper_control/include/robotiq_3f_gripper_control/robotiq_3f_gripper_can_client.h
@@ -76,8 +76,8 @@ class Robotiq3FGripperCanClient : public Robotiq3FGripperClientBase
     GripperInput input_;
     GripperOutput output_;
 
-    can::CommInterface::FrameListener::Ptr frame_listener_;
-    can::StateInterface::StateListener::Ptr state_listener_;
+    can::CommInterface::FrameListenerConstSharedPtr frame_listener_;
+    can::StateInterface::StateListenerConstSharedPtr state_listener_;
 
     void frameCallback(const can::Frame &f);
     void stateCallback(const can::State &s);

diff --git a/robotiq_3f_gripper_control/src/robotiq_3f_gripper_control/robotiq_3f_gripper_can_client.cpp b/robotiq_3f_gripper_control/src/robotiq_3f_gripper_control/robotiq_3f_gripper_can_client.cpp
@@ -65,7 +65,7 @@ void Robotiq3FGripperCanClient::writeOutputs(const GripperOutput &output)
         serial_request.is_error = 0;
         serial_request.is_rtr = 0;
         serial_request.is_extended = 0;
-        serial_request.data.assign((unsigned char)0);
+        serial_request.data.fill((unsigned char)0);
 
         serial_request.data[0] = 0x2F;
         serial_request.data[1] = 0x00;
@@ -218,7 +218,7 @@ Robotiq3FGripperCanClient::GripperInput Robotiq3FGripperCanClient::readInputs()
         serial_request.is_error = 0;
         serial_request.is_rtr = 0;
         serial_request.is_extended = 0;
-        serial_request.data.assign(static_cast<unsigned char>(0));
+        serial_request.data.fill(static_cast<unsigned char>(0));
 
         serial_request.data[0] = 0x4F;
         serial_request.data[1] = 0x00;