Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-12 11:00:47 +02:00
Code Releases Activity

Format sources with clang-format

Browse Source
This commit is contained in:
Miguel Prada
2018-11-20 09:47:17 +01:00
parent d7a59872b2
commit 9e276a3368
20 changed files with 177 additions and 163 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
src/ur/commander.cpp
View File

@@ -22,7 +22,7 @@ void URCommander::formatArray(std::ostringstream &out, std::array<double, 6> &va
bool URCommander::uploadProg(const std::string &s)
{
LOG_DEBUG("Sending program [%s]",s.c_str());
LOG_DEBUG("Sending program [%s]", s.c_str());
return write(s);
}
@@ -73,7 +73,9 @@ bool URCommander_V1_X::speedj(std::array<double, 6> &speeds, double acceleration
bool URCommander_V1_X::setAnalogOut(uint8_t pin, double value)
{
std::ostringstream out;
out << "sec io_fun():\n" << "set_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(4) << value << ")\n" << "end\n";
out << "sec io_fun():\n"
<< "set_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(4) << value << ")\n"
<< "end\n";
std::string s(out.str());
return write(s);
}
@@ -81,7 +83,9 @@ bool URCommander_V1_X::setAnalogOut(uint8_t pin, double value)
bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value)
{
std::ostringstream out;
out << "sec io_fun():\n" << "set_digital_out(" << (int)pin << "," << (value ? "True" : "False") << ")\n" << "end\n";
out << "sec io_fun():\n"
<< "set_digital_out(" << (int)pin << "," << (value ? "True" : "False") << ")\n"
<< "end\n";
std::string s(out.str());
return write(s);
}
@@ -89,7 +93,9 @@ bool URCommander_V1_X::setDigitalOut(uint8_t pin, bool value)
bool URCommander_V3_X::setAnalogOut(uint8_t pin, double value)
{
std::ostringstream out;
out << "sec io_fun():\n" << "set_standard_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(5) << value << ")\n" << "end\n";
out << "sec io_fun():\n"
<< "set_standard_analog_out(" << (int)pin << "," << std::fixed << std::setprecision(5) << value << ")\n"
<< "end\n";
std::string s(out.str());
return write(s);
}
@@ -116,7 +122,9 @@ bool URCommander_V3_X::setDigitalOut(uint8_t pin, bool value)
else
return false;
out << "sec io_fun():\n" << func << "(" << (int)pin << "," << (value ? "True" : "False") << ")\n" << "end\n";
out << "sec io_fun():\n"
<< func << "(" << (int)pin << "," << (value ? "True" : "False") << ")\n"
<< "end\n";
std::string s(out.str());
return write(s);
}

76
src/ur/server.cpp
View File

@@ -31,8 +31,7 @@ std::string URServer::getIP()
return std::string(buf);
}
bool URServer::open(int socket_fd, struct sockaddr *address, size_t address_len)
bool URServer::open(int socket_fd, struct sockaddr* address, size_t address_len)
{
int flag = 1;
setsockopt(socket_fd, SOL_SOCKET, SO_REUSEADDR, &flag, sizeof(int));
@@ -63,9 +62,10 @@ bool URServer::accept()
int client_fd = -1;
int retry = 0;
while((client_fd = ::accept(getSocketFD(), &addr, &addr_len)) == -1){
while ((client_fd = ::accept(getSocketFD(), &addr, &addr_len)) == -1)
{
LOG_ERROR("Accepting socket connection failed. (errno: %d)", errno);
if(retry++ >= 5)
if (retry++ >= 5)
return false;
}
@@ -89,41 +89,43 @@ bool URServer::write(const uint8_t* buf, size_t buf_len, size_t& written)
bool URServer::readLine(char* buffer, size_t buf_len)
{
char *current_pointer = buffer;
char ch;
size_t total_read;
char* current_pointer = buffer;
char ch;
size_t total_read;
if (buf_len <= 0 || buffer == NULL) {
if (buf_len <= 0 || buffer == NULL)
{
return false;
}
total_read = 0;
for (;;)
{
if (client_.read(&ch))
{
if (total_read < buf_len - 1) // just in case ...
{
total_read++;
*current_pointer++ = ch;
}
if (ch == '\n')
{
break;
}
}
else
{
if (total_read == 0)
{
return false;
}
else
{
break;
}
}
}
total_read = 0;
for (;;) {
if (client_.read(&ch))
{
if (total_read < buf_len - 1) // just in case ...
{
total_read ++;
*current_pointer++ = ch;
}
if (ch == '\n')
{
break;
}
}
else
{
if (total_read == 0)
{
return false;
}
else
{
break;
}
}
}
*current_pointer = '\0';
return true;
*current_pointer = '\0';
return true;
}