Obbart/universal_robots_ros_driver
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Updated clang-format and added clang-tidy instructions

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This commit is contained in:
Felix Mauch
2019-04-01 11:18:59 +02:00
parent 5934612a03
commit 99533e42d8
16 changed files with 133 additions and 105 deletions
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28
include/ur_rtde_driver/ur/commander.h
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@@ -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<double, 6> &values);
bool write(const std::string& s);
void formatArray(std::ostringstream& out, std::array<double, 6>& values);
public:
URCommander(URStream &stream) : stream_(stream)
URCommander(URStream& stream) : stream_(stream)
{
}
virtual bool speedj(std::array<double, 6> &speeds, double acceleration) = 0;
virtual bool speedj(std::array<double, 6>& 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<double, 6> &speeds, double acceleration);
virtual bool speedj(std::array<double, 6>& 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<double, 6> &speeds, double acceleration) = 0;
virtual bool speedj(std::array<double, 6>& 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<double, 6> &speeds, double acceleration);
virtual bool speedj(std::array<double, 6>& 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<double, 6> &speeds, double acceleration);
virtual bool speedj(std::array<double, 6>& speeds, double acceleration);
};

6
include/ur_rtde_driver/ur/server.h
View File

@@ -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);
};