Clang-format run

src/ur/commander.cpp

@@ -1,10 +1,10 @@
 #include "ur_modern_driver/ur/commander.h"
 #include "ur_modern_driver/log.h"
 
-bool URCommander::write(std::string& s)
+bool URCommander::write(std::string &s)
 {
   size_t len = s.size();
-  const uint8_t* data = reinterpret_cast<const uint8_t*>(s.c_str());
+  const uint8_t *data = reinterpret_cast<const uint8_t *>(s.c_str());
   size_t written;
   return stream_.write(data, len, written);
 }
@@ -12,10 +12,10 @@ bool URCommander::write(std::string& s)
 void URCommander::formatArray(std::ostringstream &out, std::array<double, 6> &values)
 {
   std::string mod("[");
-  for(auto const& val : values)
+  for (auto const &val : values)
   {
-      out << mod << val;
-      mod = ",";
+    out << mod << val;
+    mod = ",";
   }
   out << "]";
 }
@@ -27,7 +27,7 @@ bool URCommander::uploadProg(std::string &s)
 
 bool URCommander::setToolVoltage(uint8_t voltage)
 {
-  if(voltage != 0 || voltage != 12 || voltage != 24)
+  if (voltage != 0 || voltage != 12 || voltage != 24)
     return false;
 
   std::ostringstream out;
@@ -59,7 +59,6 @@ bool URCommander::stopj(double a)
   return write(s);
 }
 
-
 bool URCommander_V1_X::speedj(std::array<double, 6> &speeds, double acceleration)
 {
   std::ostringstream out;
@@ -86,7 +85,6 @@ bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value)
   return write(s);
 }
 
-
 bool URCommander_V3_X::speedj(std::array<double, 6> &speeds, double acceleration)
 {
   std::ostringstream out;
@@ -110,16 +108,16 @@ bool URCommander_V3_X::setDigitalOut(uint8_t pin, bool value)
   std::ostringstream out;
   std::string func;
 
-  if(pin < 8)
+  if (pin < 8)
   {
     func = "set_standard_digital_out";
   }
-  else if(pin < 16)
+  else if (pin < 16)
   {
     func = "set_configurable_digital_out";
     pin -= 8;
   }
-  else if(pin < 18)
+  else if (pin < 18)
   {
     func = "set_tool_digital_out";
     pin -= 16;
@@ -127,7 +125,6 @@ bool URCommander_V3_X::setDigitalOut(uint8_t pin, bool value)
   else
     return false;
 
-
   out << func << "(" << (int)pin << "," << (value ? "True" : "False") << ")\n";
   std::string s(out.str());
   return write(s);

src/ur/master_board.cpp

@@ -59,7 +59,7 @@ bool MasterBoardData_V3_0__1::parseWith(BinParser& bp)
   bp.parse(euromap67_interface_installed);
 
   if (euromap67_interface_installed)
-  {  
+  {
     if (!bp.checkSize(MasterBoardData_V3_0__1::EURO_SIZE))
       return false;
 

src/ur/server.cpp

@@ -1,12 +1,11 @@
-#include <cstring>
-#include <netinet/tcp.h>
-#include <arpa/inet.h>
-#include <unistd.h>
-#include "ur_modern_driver/log.h"
 #include "ur_modern_driver/ur/server.h"
+#include <arpa/inet.h>
+#include <netinet/tcp.h>
+#include <unistd.h>
+#include <cstring>
+#include "ur_modern_driver/log.h"
 
-URServer::URServer(int port)
-  : port_(port)
+URServer::URServer(int port) : port_(port)
 {
 }
 
@@ -29,7 +28,7 @@ std::string URServer::getIP()
   socklen_t len = sizeof(name);
   int res = ::getsockname(getSocketFD(), (sockaddr*)&name, &len);
 
-  if(res < 0)
+  if (res < 0)
   {
     LOG_ERROR("Could not get local IP");
     return std::string();
@@ -44,11 +43,11 @@ bool URServer::bind()
 {
   std::string empty;
   bool res = TCPSocket::setup(empty, port_);
-  
-  if(!res)
+
+  if (!res)
     return false;
 
-  if(::listen(getSocketFD(), 1) < 0)
+  if (::listen(getSocketFD(), 1) < 0)
     return false;
 
   return true;
@@ -56,14 +55,14 @@ bool URServer::bind()
 
 bool URServer::accept()
 {
-  if(TCPSocket::getState() != SocketState::Connected || client_.getSocketFD() > 0)
+  if (TCPSocket::getState() != SocketState::Connected || client_.getSocketFD() > 0)
     return false;
 
-  struct sockaddr addr; 
+  struct sockaddr addr;
   socklen_t addr_len;
   int client_fd = ::accept(getSocketFD(), &addr, &addr_len);
 
-  if(client_fd <= 0)
+  if (client_fd <= 0)
     return false;
 
   setOptions(client_fd);
@@ -73,13 +72,13 @@ bool URServer::accept()
 
 void URServer::disconnectClient()
 {
-  if(client_.getState() != SocketState::Connected)
+  if (client_.getState() != SocketState::Connected)
     return;
-  
+
   client_.close();
 }
 
-bool URServer::write(const uint8_t* buf, size_t buf_len, size_t &written)
+bool URServer::write(const uint8_t* buf, size_t buf_len, size_t& written)
 {
   return client_.write(buf, buf_len, written);
 }

src/ur/stream.cpp

@@ -6,22 +6,22 @@
 #include "ur_modern_driver/log.h"
 #include "ur_modern_driver/ur/stream.h"
 
-bool URStream::write(const uint8_t* buf, size_t buf_len, size_t &written)
+bool URStream::write(const uint8_t* buf, size_t buf_len, size_t& written)
 {
   std::lock_guard<std::mutex> lock(write_mutex_);
   return TCPSocket::write(buf, buf_len, written);
 }
 
-bool URStream::read(uint8_t* buf, size_t buf_len, size_t &total)
+bool URStream::read(uint8_t* buf, size_t buf_len, size_t& total)
 {
-  std::lock_guard<std::mutex> lock(read_mutex_);   
+  std::lock_guard<std::mutex> lock(read_mutex_);
 
   bool initial = true;
   uint8_t* buf_pos = buf;
   size_t remainder = sizeof(int32_t);
   size_t read = 0;
 
-  while(remainder > 0 && TCPSocket::read(buf_pos, remainder, read))
+  while (remainder > 0 && TCPSocket::read(buf_pos, remainder, read))
   {
     TCPSocket::setOptions(getSocketFD());
     if (initial)
@@ -39,6 +39,6 @@ bool URStream::read(uint8_t* buf, size_t buf_len, size_t &total)
     buf_pos += read;
     remainder -= read;
   }
-  
+
   return remainder == 0;
 }