Obbart/universal_robots_ros_driver
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Clang-format run

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This commit is contained in:
Simon Rasmussen
2017-07-09 02:54:49 +02:00
parent 577fcdbf98
commit 3a5fa23f6b
31 changed files with 343 additions and 343 deletions
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42
src/tcp_socket.cpp
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@@ -1,16 +1,14 @@
#include <arpa/inet.h>
#include <endian.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <cstring>
#include "ur_modern_driver/log.h"
#include "ur_modern_driver/tcp_socket.h"
TCPSocket::TCPSocket()
: socket_fd_(-1)
, state_(SocketState::Invalid)
{
TCPSocket::TCPSocket() : socket_fd_(-1), state_(SocketState::Invalid)
{
}
TCPSocket::~TCPSocket()
{
@@ -26,7 +24,7 @@ void TCPSocket::setOptions(int socket_fd)
bool TCPSocket::setup(std::string &host, int port)
{
if(state_ == SocketState::Connected)
if (state_ == SocketState::Connected)
return false;
LOG_INFO("Setting up connection: %s:%d", host.c_str(), port);
@@ -51,11 +49,11 @@ bool TCPSocket::setup(std::string &host, int port)
bool connected = false;
// loop through the list of addresses untill we find one that's connectable
for (struct addrinfo* p = result; p != nullptr; p = p->ai_next)
for (struct addrinfo *p = result; p != nullptr; p = p->ai_next)
{
socket_fd_ = ::socket(p->ai_family, p->ai_socktype, p->ai_protocol);
if (socket_fd_ != -1 && open(socket_fd_, p->ai_addr, p->ai_addrlen))
if (socket_fd_ != -1 && open(socket_fd_, p->ai_addr, p->ai_addrlen))
{
connected = true;
break;
@@ -63,8 +61,8 @@ bool TCPSocket::setup(std::string &host, int port)
}
freeaddrinfo(result);
if(!connected)
if (!connected)
{
state_ = SocketState::Invalid;
LOG_ERROR("Connection setup failed for %s:%d", host.c_str(), port);
@@ -80,7 +78,7 @@ bool TCPSocket::setup(std::string &host, int port)
bool TCPSocket::setSocketFD(int socket_fd)
{
if(state_ == SocketState::Connected)
if (state_ == SocketState::Connected)
return false;
socket_fd_ = socket_fd;
state_ = SocketState::Connected;
@@ -89,7 +87,7 @@ bool TCPSocket::setSocketFD(int socket_fd)
void TCPSocket::close()
{
if(state_ != SocketState::Connected)
if (state_ != SocketState::Connected)
return;
state_ = SocketState::Closed;
::shutdown(socket_fd_, SHUT_RDWR);
@@ -100,9 +98,9 @@ std::string TCPSocket::getIP()
{
sockaddr_in name;
socklen_t len = sizeof(name);
int res = ::getsockname(socket_fd_, (sockaddr*)&name, &len);
int res = ::getsockname(socket_fd_, (sockaddr *)&name, &len);
if(res < 0)
if (res < 0)
{
LOG_ERROR("Could not get local IP");
return std::string();
@@ -117,17 +115,17 @@ bool TCPSocket::read(uint8_t *buf, size_t buf_len, size_t &read)
{
read = 0;
if(state_ != SocketState::Connected)
if (state_ != SocketState::Connected)
return false;
ssize_t res = ::recv(socket_fd_, buf, buf_len, 0);
if(res == 0)
if (res == 0)
{
state_ = SocketState::Disconnected;
return false;
}
else if(res < 0)
else if (res < 0)
return false;
read = static_cast<size_t>(res);
@@ -137,8 +135,8 @@ bool TCPSocket::read(uint8_t *buf, size_t buf_len, size_t &read)
bool TCPSocket::write(const uint8_t *buf, size_t buf_len, size_t &written)
{
written = 0;
if(state_ != SocketState::Connected)
if (state_ != SocketState::Connected)
return false;
size_t remaining = buf_len;
@@ -150,10 +148,10 @@ bool TCPSocket::write(const uint8_t *buf, size_t buf_len, size_t &written)
if (sent <= 0)
return false;
written += sent;
remaining -= sent;
}
return true;
}