From 99533e42d85f0c87fd6affa51b69195817cad4d6 Mon Sep 17 00:00:00 2001 From: Felix Mauch Date: Mon, 1 Apr 2019 11:18:59 +0200 Subject: [PATCH] Updated clang-format and added clang-tidy instructions --- .clang-format | 24 ++++++++++++++-- .clang-tidy | 10 +++++++ .../action_trajectory_follower_interface.h | 4 +-- .../ur_rtde_driver/ros/hardware_interface.h | 18 ++++++------ .../ros/lowbandwidth_trajectory_follower.h | 8 +++--- .../ur_rtde_driver/ros/trajectory_follower.h | 12 ++++---- include/ur_rtde_driver/ros/urscript_handler.h | 6 ++-- include/ur_rtde_driver/tcp_socket.h | 10 +++---- include/ur_rtde_driver/ur/commander.h | 28 +++++++++---------- include/ur_rtde_driver/ur/server.h | 6 ++-- src/ros/hardware_interface.cpp | 18 ++++++------ src/ros/lowbandwidth_trajectory_follower.cpp | 22 +++++++-------- src/ros/trajectory_follower.cpp | 18 ++++++------ src/ros_main.cpp | 22 +++++++-------- src/tcp_socket.cpp | 16 +++++------ src/ur/commander.cpp | 16 +++++------ 16 files changed, 133 insertions(+), 105 deletions(-) create mode 100644 .clang-tidy diff --git a/.clang-format b/.clang-format index e03f80b..eca6051 100644 --- a/.clang-format +++ b/.clang-format @@ -17,7 +17,8 @@ BreakConstructorInitializersBeforeComma: true BinPackParameters: true ColumnLimit: 120 ConstructorInitializerAllOnOneLineOrOnePerLine: true -DerivePointerBinding: true +DerivePointerBinding: false +PointerBindsToType: true ExperimentalAutoDetectBinPacking: false IndentCaseLabels: true MaxEmptyLinesToKeep: 1 @@ -29,14 +30,12 @@ PenaltyBreakString: 1 PenaltyBreakFirstLessLess: 1000 PenaltyExcessCharacter: 1000 PenaltyReturnTypeOnItsOwnLine: 90 -PointerBindsToType: false SpacesBeforeTrailingComments: 2 Cpp11BracedListStyle: false Standard: Auto IndentWidth: 2 TabWidth: 2 UseTab: Never -BreakBeforeBraces: Allman IndentFunctionDeclarationAfterType: false SpacesInParentheses: false SpacesInAngles: false @@ -45,4 +44,23 @@ SpacesInCStyleCastParentheses: false SpaceAfterControlStatementKeyword: true SpaceBeforeAssignmentOperators: true ContinuationIndentWidth: 4 +SortIncludes: false +SpaceAfterCStyleCast: false + +# Configure each individual brace in BraceWrapping +BreakBeforeBraces: Custom + +# Control of individual brace wrapping cases +BraceWrapping: { + AfterClass: 'true' + AfterControlStatement: 'true' + AfterEnum : 'true' + AfterFunction : 'true' + AfterNamespace : 'true' + AfterStruct : 'true' + AfterUnion : 'true' + BeforeCatch : 'true' + BeforeElse : 'true' + IndentBraces : 'false' +} ... diff --git a/.clang-tidy b/.clang-tidy new file mode 100644 index 0000000..d935e37 --- /dev/null +++ b/.clang-tidy @@ -0,0 +1,10 @@ +Checks: '-*,readability-identifier-naming' +CheckOptions: + - { key: readability-identifier-naming.NamespaceCase, value: lower_case } + - { key: readability-identifier-naming.ClassCase, value: CamelCase } + - { key: readability-identifier-naming.PrivateMemberSuffix, value: _ } + - { key: readability-identifier-naming.StructCase, value: CamelCase } + - { key: readability-identifier-naming.FunctionCase, value: camelBack } + - { key: readability-identifier-naming.VariableCase, value: lower_case } + - { key: readability-identifier-naming.GlobalVariablePrefix, value: g_ } + - { key: readability-identifier-naming.GlobalConstantCase, value: UPPER_CASE } diff --git a/include/ur_rtde_driver/ros/action_trajectory_follower_interface.h b/include/ur_rtde_driver/ros/action_trajectory_follower_interface.h index 264bb2f..9157dc0 100644 --- a/include/ur_rtde_driver/ros/action_trajectory_follower_interface.h +++ b/include/ur_rtde_driver/ros/action_trajectory_follower_interface.h @@ -36,7 +36,7 @@ struct TrajectoryPoint { } - TrajectoryPoint(std::array &pos, std::array &vel, std::chrono::microseconds tfs) + TrajectoryPoint(std::array& pos, std::array& vel, std::chrono::microseconds tfs) : positions(pos), velocities(vel), time_from_start(tfs) { } @@ -46,7 +46,7 @@ class ActionTrajectoryFollowerInterface { public: virtual bool start() = 0; - virtual bool execute(std::vector &trajectory, std::atomic &interrupt) = 0; + virtual bool execute(std::vector& trajectory, std::atomic& interrupt) = 0; virtual void stop() = 0; virtual ~ActionTrajectoryFollowerInterface(){}; }; diff --git a/include/ur_rtde_driver/ros/hardware_interface.h b/include/ur_rtde_driver/ros/hardware_interface.h index 6e38983..1663918 100644 --- a/include/ur_rtde_driver/ros/hardware_interface.h +++ b/include/ur_rtde_driver/ros/hardware_interface.h @@ -49,8 +49,8 @@ private: std::array velocities_, positions_, efforts_; public: - JointInterface(std::vector &joint_names); - void update(RTShared &packet); + JointInterface(std::vector& joint_names); + void update(RTShared& packet); typedef hardware_interface::JointStateInterface parent_type; static const std::string INTERFACE_NAME; @@ -62,7 +62,7 @@ class WrenchInterface : public hardware_interface::ForceTorqueSensorInterface public: WrenchInterface(std::string tcp_link); - void update(RTShared &packet); + void update(RTShared& packet); typedef hardware_interface::ForceTorqueSensorInterface parent_type; static const std::string INTERFACE_NAME; }; @@ -70,13 +70,13 @@ public: class VelocityInterface : public HardwareInterface, public hardware_interface::VelocityJointInterface { private: - URCommander &commander_; + URCommander& commander_; std::array velocity_cmd_, prev_velocity_cmd_; double max_vel_change_; public: - VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface, - std::vector &joint_names, double max_vel_change); + VelocityInterface(URCommander& commander, hardware_interface::JointStateInterface& js_interface, + std::vector& joint_names, double max_vel_change); virtual bool write(); virtual void reset(); typedef hardware_interface::VelocityJointInterface parent_type; @@ -86,12 +86,12 @@ public: class PositionInterface : public HardwareInterface, public hardware_interface::PositionJointInterface { private: - TrajectoryFollower &follower_; + TrajectoryFollower& follower_; std::array position_cmd_; public: - PositionInterface(TrajectoryFollower &follower, hardware_interface::JointStateInterface &js_interface, - std::vector &joint_names); + PositionInterface(TrajectoryFollower& follower, hardware_interface::JointStateInterface& js_interface, + std::vector& joint_names); virtual bool write(); virtual void start(); virtual void stop(); diff --git a/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h b/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h index d12bcf2..9962866 100644 --- a/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h +++ b/include/ur_rtde_driver/ros/lowbandwidth_trajectory_follower.h @@ -34,7 +34,7 @@ class LowBandwidthTrajectoryFollower : public ActionTrajectoryFollowerInterface private: std::atomic running_; std::array last_positions_; - URCommander &commander_; + URCommander& commander_; URServer server_; double time_interval_, servoj_time_, servoj_time_waiting_, max_waiting_time_, servoj_gain_, servoj_lookahead_time_, @@ -42,14 +42,14 @@ private: std::string program_; - bool execute(const std::array &positions, const std::array &velocities, double sample_number, + bool execute(const std::array& positions, const std::array& velocities, double sample_number, double time_in_seconds); public: - LowBandwidthTrajectoryFollower(URCommander &commander, std::string &reverse_ip, int reverse_port, bool version_3); + LowBandwidthTrajectoryFollower(URCommander& commander, std::string& reverse_ip, int reverse_port, bool version_3); bool start(); - bool execute(std::vector &trajectory, std::atomic &interrupt); + bool execute(std::vector& trajectory, std::atomic& interrupt); void stop(); virtual ~LowBandwidthTrajectoryFollower(){}; diff --git a/include/ur_rtde_driver/ros/trajectory_follower.h b/include/ur_rtde_driver/ros/trajectory_follower.h index 5e3dcea..d30d8dd 100644 --- a/include/ur_rtde_driver/ros/trajectory_follower.h +++ b/include/ur_rtde_driver/ros/trajectory_follower.h @@ -38,29 +38,29 @@ class TrajectoryFollower : public ActionTrajectoryFollowerInterface private: std::atomic running_; std::array last_positions_; - URCommander &commander_; + URCommander& commander_; URServer server_; double servoj_time_, servoj_lookahead_time_, servoj_gain_; std::string program_; template - size_t append(uint8_t *buffer, T &val) + size_t append(uint8_t* buffer, T& val) { size_t s = sizeof(T); std::memcpy(buffer, &val, s); return s; } - bool execute(std::array &positions, bool keep_alive); + bool execute(std::array& positions, bool keep_alive); double interpolate(double t, double T, double p0_pos, double p1_pos, double p0_vel, double p1_vel); public: - TrajectoryFollower(URCommander &commander, std::string &reverse_ip, int reverse_port, bool version_3); + TrajectoryFollower(URCommander& commander, std::string& reverse_ip, int reverse_port, bool version_3); bool start(); - bool execute(std::array &positions); - bool execute(std::vector &trajectory, std::atomic &interrupt); + bool execute(std::array& positions); + bool execute(std::vector& trajectory, std::atomic& interrupt); void stop(); virtual ~TrajectoryFollower(){}; diff --git a/include/ur_rtde_driver/ros/urscript_handler.h b/include/ur_rtde_driver/ros/urscript_handler.h index 067bce5..74cb891 100644 --- a/include/ur_rtde_driver/ros/urscript_handler.h +++ b/include/ur_rtde_driver/ros/urscript_handler.h @@ -30,12 +30,12 @@ class URScriptHandler : public Service { private: ros::NodeHandle nh_; - URCommander &commander_; + URCommander& commander_; ros::Subscriber urscript_sub_; RobotState state_; public: - URScriptHandler(URCommander &commander); - void urscriptInterface(const std_msgs::String::ConstPtr &msg); + URScriptHandler(URCommander& commander); + void urscriptInterface(const std_msgs::String::ConstPtr& msg); void onRobotStateChange(RobotState state); }; diff --git a/include/ur_rtde_driver/tcp_socket.h b/include/ur_rtde_driver/tcp_socket.h index c729792..36709bb 100644 --- a/include/ur_rtde_driver/tcp_socket.h +++ b/include/ur_rtde_driver/tcp_socket.h @@ -39,13 +39,13 @@ private: std::atomic state_; protected: - virtual bool open(int socket_fd, struct sockaddr *address, size_t address_len) + virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len) { return false; } virtual void setOptions(int socket_fd); - bool setup(std::string &host, int port); + bool setup(std::string& host, int port); public: TCPSocket(); @@ -64,9 +64,9 @@ public: std::string getIP(); - bool read(char *character); - bool read(uint8_t *buf, size_t buf_len, size_t &read); - bool write(const uint8_t *buf, size_t buf_len, size_t &written); + bool read(char* character); + bool read(uint8_t* buf, size_t buf_len, size_t& read); + bool write(const uint8_t* buf, size_t buf_len, size_t& written); void close(); }; diff --git a/include/ur_rtde_driver/ur/commander.h b/include/ur_rtde_driver/ur/commander.h index 73c25be..0166fe5 100644 --- a/include/ur_rtde_driver/ur/commander.h +++ b/include/ur_rtde_driver/ur/commander.h @@ -25,23 +25,23 @@ class URCommander { private: - URStream &stream_; + URStream& stream_; protected: - bool write(const std::string &s); - void formatArray(std::ostringstream &out, std::array &values); + bool write(const std::string& s); + void formatArray(std::ostringstream& out, std::array& values); public: - URCommander(URStream &stream) : stream_(stream) + URCommander(URStream& stream) : stream_(stream) { } - virtual bool speedj(std::array &speeds, double acceleration) = 0; + virtual bool speedj(std::array& speeds, double acceleration) = 0; virtual bool setDigitalOut(uint8_t pin, bool value) = 0; virtual bool setAnalogOut(uint8_t pin, double value) = 0; // shared - bool uploadProg(const std::string &s); + bool uploadProg(const std::string& s); bool stopj(double a = 10.0); bool setToolVoltage(uint8_t voltage); bool setFlag(uint8_t pin, bool value); @@ -51,11 +51,11 @@ public: class URCommander_V1_X : public URCommander { public: - URCommander_V1_X(URStream &stream) : URCommander(stream) + URCommander_V1_X(URStream& stream) : URCommander(stream) { } - virtual bool speedj(std::array &speeds, double acceleration); + virtual bool speedj(std::array& speeds, double acceleration); virtual bool setDigitalOut(uint8_t pin, bool value); virtual bool setAnalogOut(uint8_t pin, double value); }; @@ -63,11 +63,11 @@ public: class URCommander_V3_X : public URCommander { public: - URCommander_V3_X(URStream &stream) : URCommander(stream) + URCommander_V3_X(URStream& stream) : URCommander(stream) { } - virtual bool speedj(std::array &speeds, double acceleration) = 0; + virtual bool speedj(std::array& speeds, double acceleration) = 0; virtual bool setDigitalOut(uint8_t pin, bool value); virtual bool setAnalogOut(uint8_t pin, double value); }; @@ -75,19 +75,19 @@ public: class URCommander_V3_1__2 : public URCommander_V3_X { public: - URCommander_V3_1__2(URStream &stream) : URCommander_V3_X(stream) + URCommander_V3_1__2(URStream& stream) : URCommander_V3_X(stream) { } - virtual bool speedj(std::array &speeds, double acceleration); + virtual bool speedj(std::array& speeds, double acceleration); }; class URCommander_V3_3 : public URCommander_V3_X { public: - URCommander_V3_3(URStream &stream) : URCommander_V3_X(stream) + URCommander_V3_3(URStream& stream) : URCommander_V3_X(stream) { } - virtual bool speedj(std::array &speeds, double acceleration); + virtual bool speedj(std::array& speeds, double acceleration); }; diff --git a/include/ur_rtde_driver/ur/server.h b/include/ur_rtde_driver/ur/server.h index 5e15385..4bf938f 100644 --- a/include/ur_rtde_driver/ur/server.h +++ b/include/ur_rtde_driver/ur/server.h @@ -35,7 +35,7 @@ private: TCPSocket client_; protected: - virtual bool open(int socket_fd, struct sockaddr *address, size_t address_len); + virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len); public: URServer(int port); @@ -44,6 +44,6 @@ public: bool bind(); bool accept(); void disconnectClient(); - bool readLine(char *buffer, size_t buf_len); - bool write(const uint8_t *buf, size_t buf_len, size_t &written); + bool readLine(char* buffer, size_t buf_len); + bool write(const uint8_t* buf, size_t buf_len, size_t& written); }; diff --git a/src/ros/hardware_interface.cpp b/src/ros/hardware_interface.cpp index aa3a393..320ab6f 100644 --- a/src/ros/hardware_interface.cpp +++ b/src/ros/hardware_interface.cpp @@ -20,7 +20,7 @@ #include "ur_rtde_driver/log.h" const std::string JointInterface::INTERFACE_NAME = "hardware_interface::JointStateInterface"; -JointInterface::JointInterface(std::vector &joint_names) +JointInterface::JointInterface(std::vector& joint_names) { for (size_t i = 0; i < 6; i++) { @@ -28,7 +28,7 @@ JointInterface::JointInterface(std::vector &joint_names) } } -void JointInterface::update(RTShared &packet) +void JointInterface::update(RTShared& packet) { positions_ = packet.q_actual; velocities_ = packet.qd_actual; @@ -41,14 +41,14 @@ WrenchInterface::WrenchInterface(std::string tcp_link) registerHandle(hardware_interface::ForceTorqueSensorHandle("wrench", tcp_link, tcp_.begin(), tcp_.begin() + 3)); } -void WrenchInterface::update(RTShared &packet) +void WrenchInterface::update(RTShared& packet) { tcp_ = packet.tcp_force; } const std::string VelocityInterface::INTERFACE_NAME = "hardware_interface::VelocityJointInterface"; -VelocityInterface::VelocityInterface(URCommander &commander, hardware_interface::JointStateInterface &js_interface, - std::vector &joint_names, double max_vel_change) +VelocityInterface::VelocityInterface(URCommander& commander, hardware_interface::JointStateInterface& js_interface, + std::vector& joint_names, double max_vel_change) : commander_(commander), max_vel_change_(max_vel_change), prev_velocity_cmd_({ 0, 0, 0, 0, 0, 0 }) { for (size_t i = 0; i < 6; i++) @@ -72,16 +72,16 @@ bool VelocityInterface::write() void VelocityInterface::reset() { - for (auto &val : prev_velocity_cmd_) + for (auto& val : prev_velocity_cmd_) { val = 0; } } const std::string PositionInterface::INTERFACE_NAME = "hardware_interface::PositionJointInterface"; -PositionInterface::PositionInterface(TrajectoryFollower &follower, - hardware_interface::JointStateInterface &js_interface, - std::vector &joint_names) +PositionInterface::PositionInterface(TrajectoryFollower& follower, + hardware_interface::JointStateInterface& js_interface, + std::vector& joint_names) : follower_(follower) { for (size_t i = 0; i < 6; i++) diff --git a/src/ros/lowbandwidth_trajectory_follower.cpp b/src/ros/lowbandwidth_trajectory_follower.cpp index 4db3190..965ddee 100644 --- a/src/ros/lowbandwidth_trajectory_follower.cpp +++ b/src/ros/lowbandwidth_trajectory_follower.cpp @@ -249,7 +249,7 @@ end )"; -LowBandwidthTrajectoryFollower::LowBandwidthTrajectoryFollower(URCommander &commander, std::string &reverse_ip, +LowBandwidthTrajectoryFollower::LowBandwidthTrajectoryFollower(URCommander& commander, std::string& reverse_ip, int reverse_port, bool version_3) : running_(false) , commander_(commander) @@ -323,8 +323,8 @@ bool LowBandwidthTrajectoryFollower::start() return (running_ = true); } -bool LowBandwidthTrajectoryFollower::execute(const std::array &positions, - const std::array &velocities, double sample_number, +bool LowBandwidthTrajectoryFollower::execute(const std::array& positions, + const std::array& velocities, double sample_number, double time_in_seconds) { if (!running_) @@ -334,11 +334,11 @@ bool LowBandwidthTrajectoryFollower::execute(const std::array &positi out << "("; out << sample_number << ","; - for (auto const &pos : positions) + for (auto const& pos : positions) { out << pos << ","; } - for (auto const &vel : velocities) + for (auto const& vel : velocities) { out << vel << ","; } @@ -347,8 +347,8 @@ bool LowBandwidthTrajectoryFollower::execute(const std::array &positi // I know it's ugly but it's the most efficient and fastest way // We have only ASCII characters and we can cast char -> uint_8 const std::string tmp = out.str(); - const char *formatted_message = tmp.c_str(); - const uint8_t *buf = (uint8_t *)formatted_message; + const char* formatted_message = tmp.c_str(); + const uint8_t* buf = (uint8_t*)formatted_message; size_t written; LOG_DEBUG("Sending message %s", formatted_message); @@ -356,26 +356,26 @@ bool LowBandwidthTrajectoryFollower::execute(const std::array &positi return server_.write(buf, strlen(formatted_message) + 1, written); } -bool LowBandwidthTrajectoryFollower::execute(std::vector &trajectory, std::atomic &interrupt) +bool LowBandwidthTrajectoryFollower::execute(std::vector& trajectory, std::atomic& interrupt) { if (!running_) return false; bool finished = false; - char *line[MAX_SERVER_BUF_LEN]; + char* line[MAX_SERVER_BUF_LEN]; bool res = true; while (!finished && !interrupt) { - if (!server_.readLine((char *)line, MAX_SERVER_BUF_LEN)) + if (!server_.readLine((char*)line, MAX_SERVER_BUF_LEN)) { LOG_DEBUG("Connection closed. Finishing!"); finished = true; break; } - unsigned int message_num = atoi((const char *)line); + unsigned int message_num = atoi((const char*)line); LOG_DEBUG("Received request %i", message_num); if (message_num < trajectory.size()) { diff --git a/src/ros/trajectory_follower.cpp b/src/ros/trajectory_follower.cpp index 58c12fb..b01a65a 100644 --- a/src/ros/trajectory_follower.cpp +++ b/src/ros/trajectory_follower.cpp @@ -83,7 +83,7 @@ def driverProg(): end )"; -TrajectoryFollower::TrajectoryFollower(URCommander &commander, std::string &reverse_ip, int reverse_port, +TrajectoryFollower::TrajectoryFollower(URCommander& commander, std::string& reverse_ip, int reverse_port, bool version_3) : running_(false) , commander_(commander) @@ -141,7 +141,7 @@ bool TrajectoryFollower::start() return (running_ = true); } -bool TrajectoryFollower::execute(std::array &positions, bool keep_alive) +bool TrajectoryFollower::execute(std::array& positions, bool keep_alive) { if (!running_) return false; @@ -152,9 +152,9 @@ bool TrajectoryFollower::execute(std::array &positions, bool keep_ali last_positions_ = positions; uint8_t buf[sizeof(uint32_t) * 7]; - uint8_t *idx = buf; + uint8_t* idx = buf; - for (auto const &pos : positions) + for (auto const& pos : positions) { int32_t val = static_cast(pos * MULT_JOINTSTATE_); val = htobe32(val); @@ -178,12 +178,12 @@ double TrajectoryFollower::interpolate(double t, double T, double p0_pos, double return a + b * t + c * pow(t, 2) + d * pow(t, 3); } -bool TrajectoryFollower::execute(std::array &positions) +bool TrajectoryFollower::execute(std::array& positions) { return execute(positions, true); } -bool TrajectoryFollower::execute(std::vector &trajectory, std::atomic &interrupt) +bool TrajectoryFollower::execute(std::vector& trajectory, std::atomic& interrupt) { if (!running_) return false; @@ -193,15 +193,15 @@ bool TrajectoryFollower::execute(std::vector &trajectory, std:: typedef high_resolution_clock Clock; typedef Clock::time_point Time; - auto &last = trajectory[trajectory.size() - 1]; - auto &prev = trajectory[0]; + auto& last = trajectory[trajectory.size() - 1]; + auto& prev = trajectory[0]; Time t0 = Clock::now(); Time latest = t0; std::array positions; - for (auto const &point : trajectory) + for (auto const& point : trajectory) { // skip t0 if (&point == &prev) diff --git a/src/ros_main.cpp b/src/ros_main.cpp index 0e842a0..761d98a 100644 --- a/src/ros_main.cpp +++ b/src/ros_main.cpp @@ -107,7 +107,7 @@ public: } }; -bool parse_args(ProgArgs &args) +bool parse_args(ProgArgs& args) { if (!ros::param::get(IP_ADDR_ARG, args.host)) { @@ -128,13 +128,13 @@ bool parse_args(ProgArgs &args) return true; } -std::string getLocalIPAccessibleFromHost(std::string &host) +std::string getLocalIPAccessibleFromHost(std::string& host) { URStream stream(host, UR_RT_PORT); return stream.connect() ? stream.getIP() : std::string(); } -int main(int argc, char **argv) +int main(int argc, char** argv) { ros::init(argc, argv, "ur_driver"); @@ -151,7 +151,7 @@ int main(int argc, char **argv) std::string local_ip(getLocalIPAccessibleFromHost(args.host)); URFactory factory(args.host); - vector services; + vector services; // RT packets auto rt_parser = factory.getRTParser(); @@ -159,15 +159,15 @@ int main(int argc, char **argv) URProducer rt_prod(rt_stream, *rt_parser); RTPublisher rt_pub(args.prefix, args.base_frame, args.tool_frame, args.use_ros_control); auto rt_commander = factory.getCommander(rt_stream); - vector *> rt_vec{ &rt_pub }; + vector*> rt_vec{ &rt_pub }; - INotifier *notifier(nullptr); - ROSController *controller(nullptr); - ActionServer *action_server(nullptr); + INotifier* notifier(nullptr); + ROSController* controller(nullptr); + ActionServer* action_server(nullptr); if (args.use_ros_control) { LOG_INFO("ROS control enabled"); - TrajectoryFollower *traj_follower = + TrajectoryFollower* traj_follower = new TrajectoryFollower(*rt_commander, local_ip, args.reverse_port, factory.isVersion3()); controller = new ROSController(*rt_commander, *traj_follower, args.joint_names, args.max_vel_change, args.tcp_link); rt_vec.push_back(controller); @@ -176,7 +176,7 @@ int main(int argc, char **argv) else { LOG_INFO("ActionServer enabled"); - ActionTrajectoryFollowerInterface *traj_follower(nullptr); + ActionTrajectoryFollowerInterface* traj_follower(nullptr); if (args.use_lowbandwidth_trajectory_follower) { LOG_INFO("Use low bandwidth trajectory follower"); @@ -217,7 +217,7 @@ int main(int argc, char **argv) ServiceStopper service_stopper(services); - vector *> state_vec{ &state_pub, &service_stopper }; + vector*> state_vec{ &state_pub, &service_stopper }; MultiConsumer state_cons(state_vec); Pipeline state_pl(state_prod, state_cons, "StatePacket", *notifier); diff --git a/src/tcp_socket.cpp b/src/tcp_socket.cpp index 15a614a..d817ec2 100644 --- a/src/tcp_socket.cpp +++ b/src/tcp_socket.cpp @@ -42,7 +42,7 @@ void TCPSocket::setOptions(int socket_fd) setsockopt(socket_fd, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int)); } -bool TCPSocket::setup(std::string &host, int port) +bool TCPSocket::setup(std::string& host, int port) { if (state_ == SocketState::Connected) return false; @@ -52,7 +52,7 @@ bool TCPSocket::setup(std::string &host, int port) // gethostbyname() is deprecated so use getadderinfo() as described in: // http://www.beej.us/guide/bgnet/output/html/multipage/syscalls.html#getaddrinfo - const char *host_name = host.empty() ? nullptr : host.c_str(); + const char* host_name = host.empty() ? nullptr : host.c_str(); std::string service = std::to_string(port); struct addrinfo hints, *result; std::memset(&hints, 0, sizeof(hints)); @@ -69,7 +69,7 @@ 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); @@ -118,7 +118,7 @@ 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) { @@ -131,16 +131,16 @@ std::string TCPSocket::getIP() return std::string(buf); } -bool TCPSocket::read(char *character) +bool TCPSocket::read(char* character) { size_t read_chars; // It's inefficient, but in our case we read very small messages // and the overhead connected with reading character by character is // negligible - adding buffering would complicate the code needlessly. - return read((uint8_t *)character, 1, read_chars); + return read((uint8_t*)character, 1, read_chars); } -bool TCPSocket::read(uint8_t *buf, size_t buf_len, size_t &read) +bool TCPSocket::read(uint8_t* buf, size_t buf_len, size_t& read) { read = 0; @@ -161,7 +161,7 @@ bool TCPSocket::read(uint8_t *buf, size_t buf_len, size_t &read) return true; } -bool TCPSocket::write(const uint8_t *buf, size_t buf_len, size_t &written) +bool TCPSocket::write(const uint8_t* buf, size_t buf_len, size_t& written) { written = 0; diff --git a/src/ur/commander.cpp b/src/ur/commander.cpp index 85bb95c..f5f1c38 100644 --- a/src/ur/commander.cpp +++ b/src/ur/commander.cpp @@ -19,18 +19,18 @@ #include "ur_rtde_driver/ur/commander.h" #include "ur_rtde_driver/log.h" -bool URCommander::write(const std::string &s) +bool URCommander::write(const std::string& s) { size_t len = s.size(); - const uint8_t *data = reinterpret_cast(s.c_str()); + const uint8_t* data = reinterpret_cast(s.c_str()); size_t written; return stream_.write(data, len, written); } -void URCommander::formatArray(std::ostringstream &out, std::array &values) +void URCommander::formatArray(std::ostringstream& out, std::array& values) { std::string mod("["); - for (auto const &val : values) + for (auto const& val : values) { out << mod << val; mod = ","; @@ -38,7 +38,7 @@ void URCommander::formatArray(std::ostringstream &out, std::array &va out << "]"; } -bool URCommander::uploadProg(const std::string &s) +bool URCommander::uploadProg(const std::string& s) { LOG_DEBUG("Sending program [%s]", s.c_str()); return write(s); @@ -78,7 +78,7 @@ bool URCommander::stopj(double a) return write(s); } -bool URCommander_V1_X::speedj(std::array &speeds, double acceleration) +bool URCommander_V1_X::speedj(std::array& speeds, double acceleration) { std::ostringstream out; out << std::fixed << std::setprecision(5); @@ -147,7 +147,7 @@ bool URCommander_V3_X::setDigitalOut(uint8_t pin, bool value) return write(s); } -bool URCommander_V3_1__2::speedj(std::array &speeds, double acceleration) +bool URCommander_V3_1__2::speedj(std::array& speeds, double acceleration) { std::ostringstream out; out << std::fixed << std::setprecision(5); @@ -158,7 +158,7 @@ bool URCommander_V3_1__2::speedj(std::array &speeds, double accelerat return write(s); } -bool URCommander_V3_3::speedj(std::array &speeds, double acceleration) +bool URCommander_V3_3::speedj(std::array& speeds, double acceleration) { std::ostringstream out; out << std::fixed << std::setprecision(5);