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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21
src/ur/commander.cpp
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@@ -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);