NiryoRobotics / niryo_one_ros

Niryo One ROS stack
GNU General Public License v3.0
234 stars 160 forks source link

Rickardraysearch/linebased tcp #38

Open rickardraysearch opened 4 years ago

rickardraysearch commented 4 years ago

Fixes #37 both the particular case and the larger problem with not having a resynchronization mechanism in the protocol.

This pull request builds on #36, and could replace it if the protocol change in here (see the changes to tcp_server.py ) is accepted.

One additional benefit to having a line-based protocol for the C# client is that the API available in .NET Standard 2.0 is sufficient to have a simple implementation, so this PR also relaxes the requirement on .NET versions, so that the client now works with both .NET Core and the legacy .NET Framework.