Added clang formatting

include/ur_modern_driver/robot_state.h

@@ -19,200 +19,202 @@
 #ifndef ROBOT_STATE_H_
 #define ROBOT_STATE_H_
 
+#include <condition_variable>
 #include <inttypes.h>
-#include <vector>
+#include <mutex>
+#include <netinet/in.h>
 #include <stdlib.h>
 #include <string.h>
-#include <mutex>
-#include <condition_variable>
-#include <netinet/in.h>
+#include <vector>
 
 namespace message_types {
 enum message_type {
-	ROBOT_STATE = 16, ROBOT_MESSAGE = 20, PROGRAM_STATE_MESSAGE = 25
+    ROBOT_STATE = 16,
+    ROBOT_MESSAGE = 20,
+    PROGRAM_STATE_MESSAGE = 25
 };
 }
 typedef message_types::message_type messageType;
 
 namespace package_types {
 enum package_type {
-	ROBOT_MODE_DATA = 0,
-	JOINT_DATA = 1,
-	TOOL_DATA = 2,
-	MASTERBOARD_DATA = 3,
-	CARTESIAN_INFO = 4,
-	KINEMATICS_INFO = 5,
-	CONFIGURATION_DATA = 6,
-	FORCE_MODE_DATA = 7,
-	ADDITIONAL_INFO = 8,
-	CALIBRATION_DATA = 9
+    ROBOT_MODE_DATA = 0,
+    JOINT_DATA = 1,
+    TOOL_DATA = 2,
+    MASTERBOARD_DATA = 3,
+    CARTESIAN_INFO = 4,
+    KINEMATICS_INFO = 5,
+    CONFIGURATION_DATA = 6,
+    FORCE_MODE_DATA = 7,
+    ADDITIONAL_INFO = 8,
+    CALIBRATION_DATA = 9
 };
 }
 typedef package_types::package_type packageType;
 
 namespace robot_message_types {
 enum robot_message_type {
-	ROBOT_MESSAGE_TEXT = 0,
-	ROBOT_MESSAGE_PROGRAM_LABEL = 1,
-	PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
-	ROBOT_MESSAGE_VERSION = 3,
-	ROBOT_MESSAGE_SAFETY_MODE = 5,
-	ROBOT_MESSAGE_ERROR_CODE = 6,
-	ROBOT_MESSAGE_KEY = 7,
-	ROBOT_MESSAGE_REQUEST_VALUE = 9,
-	ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
+    ROBOT_MESSAGE_TEXT = 0,
+    ROBOT_MESSAGE_PROGRAM_LABEL = 1,
+    PROGRAM_STATE_MESSAGE_VARIABLE_UPDATE = 2,
+    ROBOT_MESSAGE_VERSION = 3,
+    ROBOT_MESSAGE_SAFETY_MODE = 5,
+    ROBOT_MESSAGE_ERROR_CODE = 6,
+    ROBOT_MESSAGE_KEY = 7,
+    ROBOT_MESSAGE_REQUEST_VALUE = 9,
+    ROBOT_MESSAGE_RUNTIME_EXCEPTION = 10
 };
 }
 typedef robot_message_types::robot_message_type robotMessageType;
 
 namespace robot_state_type_v18 {
 enum robot_state_type {
-	ROBOT_RUNNING_MODE = 0,
-	ROBOT_FREEDRIVE_MODE = 1,
-	ROBOT_READY_MODE = 2,
-	ROBOT_INITIALIZING_MODE = 3,
-	ROBOT_SECURITY_STOPPED_MODE = 4,
-	ROBOT_EMERGENCY_STOPPED_MODE = 5,
-	ROBOT_FATAL_ERROR_MODE = 6,
-	ROBOT_NO_POWER_MODE = 7,
-	ROBOT_NOT_CONNECTED_MODE = 8,
-	ROBOT_SHUTDOWN_MODE = 9,
-	ROBOT_SAFEGUARD_STOP_MODE = 10
+    ROBOT_RUNNING_MODE = 0,
+    ROBOT_FREEDRIVE_MODE = 1,
+    ROBOT_READY_MODE = 2,
+    ROBOT_INITIALIZING_MODE = 3,
+    ROBOT_SECURITY_STOPPED_MODE = 4,
+    ROBOT_EMERGENCY_STOPPED_MODE = 5,
+    ROBOT_FATAL_ERROR_MODE = 6,
+    ROBOT_NO_POWER_MODE = 7,
+    ROBOT_NOT_CONNECTED_MODE = 8,
+    ROBOT_SHUTDOWN_MODE = 9,
+    ROBOT_SAFEGUARD_STOP_MODE = 10
 };
 }
 typedef robot_state_type_v18::robot_state_type robotStateTypeV18;
 namespace robot_state_type_v30 {
 enum robot_state_type {
-	ROBOT_MODE_DISCONNECTED = 0,
-	ROBOT_MODE_CONFIRM_SAFETY = 1,
-	ROBOT_MODE_BOOTING = 2,
-	ROBOT_MODE_POWER_OFF = 3,
-	ROBOT_MODE_POWER_ON = 4,
-	ROBOT_MODE_IDLE = 5,
-	ROBOT_MODE_BACKDRIVE = 6,
-	ROBOT_MODE_RUNNING = 7,
-	ROBOT_MODE_UPDATING_FIRMWARE = 8
+    ROBOT_MODE_DISCONNECTED = 0,
+    ROBOT_MODE_CONFIRM_SAFETY = 1,
+    ROBOT_MODE_BOOTING = 2,
+    ROBOT_MODE_POWER_OFF = 3,
+    ROBOT_MODE_POWER_ON = 4,
+    ROBOT_MODE_IDLE = 5,
+    ROBOT_MODE_BACKDRIVE = 6,
+    ROBOT_MODE_RUNNING = 7,
+    ROBOT_MODE_UPDATING_FIRMWARE = 8
 };
 }
 
 typedef robot_state_type_v30::robot_state_type robotStateTypeV30;
 
 struct version_message {
-	uint64_t timestamp;
-	int8_t source;
-	int8_t robot_message_type;
-	int8_t project_name_size;
-	char project_name[15];
-	uint8_t major_version;
-	uint8_t minor_version;
-	int svn_revision;
-	char build_date[25];
+    uint64_t timestamp;
+    int8_t source;
+    int8_t robot_message_type;
+    int8_t project_name_size;
+    char project_name[15];
+    uint8_t major_version;
+    uint8_t minor_version;
+    int svn_revision;
+    char build_date[25];
 };
 
 struct masterboard_data {
-	int digitalInputBits;
-	int digitalOutputBits;
-	char analogInputRange0;
-	char analogInputRange1;
-	double analogInput0;
-	double analogInput1;
-	char analogOutputDomain0;
-	char analogOutputDomain1;
-	double analogOutput0;
-	double analogOutput1;
-	float masterBoardTemperature;
-	float robotVoltage48V;
-	float robotCurrent;
-	float masterIOCurrent;
-	unsigned char safetyMode;
-	unsigned char masterOnOffState;
-	char euromap67InterfaceInstalled;
-	int euromapInputBits;
-	int euromapOutputBits;
-	float euromapVoltage;
-	float euromapCurrent;
+    int digitalInputBits;
+    int digitalOutputBits;
+    char analogInputRange0;
+    char analogInputRange1;
+    double analogInput0;
+    double analogInput1;
+    char analogOutputDomain0;
+    char analogOutputDomain1;
+    double analogOutput0;
+    double analogOutput1;
+    float masterBoardTemperature;
+    float robotVoltage48V;
+    float robotCurrent;
+    float masterIOCurrent;
+    unsigned char safetyMode;
+    unsigned char masterOnOffState;
+    char euromap67InterfaceInstalled;
+    int euromapInputBits;
+    int euromapOutputBits;
+    float euromapVoltage;
+    float euromapCurrent;
 };
 
 struct robot_mode_data {
-	uint64_t timestamp;
-	bool isRobotConnected;
-	bool isRealRobotEnabled;
-	bool isPowerOnRobot;
-	bool isEmergencyStopped;
-	bool isProtectiveStopped;
-	bool isProgramRunning;
-	bool isProgramPaused;
-	unsigned char robotMode;
-	unsigned char controlMode;
-	double targetSpeedFraction;
-	double speedScaling;
+    uint64_t timestamp;
+    bool isRobotConnected;
+    bool isRealRobotEnabled;
+    bool isPowerOnRobot;
+    bool isEmergencyStopped;
+    bool isProtectiveStopped;
+    bool isProgramRunning;
+    bool isProgramPaused;
+    unsigned char robotMode;
+    unsigned char controlMode;
+    double targetSpeedFraction;
+    double speedScaling;
 };
 
 class RobotState {
 private:
-	version_message version_msg_;
-	masterboard_data mb_data_;
-	robot_mode_data robot_mode_;
+    version_message version_msg_;
+    masterboard_data mb_data_;
+    robot_mode_data robot_mode_;
 
-	std::recursive_mutex val_lock_; // Locks the variables while unpack parses data;
+    std::recursive_mutex val_lock_; // Locks the variables while unpack parses data;
 
-	std::condition_variable* pMsg_cond_; //Signals that new vars are available
-	bool new_data_available_; //to avoid spurious wakes
-	unsigned char robot_mode_running_;
+    std::condition_variable* pMsg_cond_; //Signals that new vars are available
+    bool new_data_available_; //to avoid spurious wakes
+    unsigned char robot_mode_running_;
 
-	double ntohd(uint64_t nf);
+    double ntohd(uint64_t nf);
 
 public:
-	RobotState(std::condition_variable& msg_cond);
-	~RobotState();
-	double getVersion();
-	double getTime();
-	std::vector<double> getQTarget();
-	int getDigitalInputBits();
-	int getDigitalOutputBits();
-	char getAnalogInputRange0();
-	char getAnalogInputRange1();
-	double getAnalogInput0();
-	double getAnalogInput1();
-	char getAnalogOutputDomain0();
-	char getAnalogOutputDomain1();
-	double getAnalogOutput0();
-	double getAnalogOutput1();
-	std::vector<double> getVActual();
-	float getMasterBoardTemperature();
-	float getRobotVoltage48V();
-	float getRobotCurrent();
-	float getMasterIOCurrent();
-	unsigned char getSafetyMode();
-	unsigned char getInReducedMode();
-	char getEuromap67InterfaceInstalled();
-	int getEuromapInputBits();
-	int getEuromapOutputBits();
-	float getEuromapVoltage();
-	float getEuromapCurrent();
+    RobotState(std::condition_variable& msg_cond);
+    ~RobotState();
+    double getVersion();
+    double getTime();
+    std::vector<double> getQTarget();
+    int getDigitalInputBits();
+    int getDigitalOutputBits();
+    char getAnalogInputRange0();
+    char getAnalogInputRange1();
+    double getAnalogInput0();
+    double getAnalogInput1();
+    char getAnalogOutputDomain0();
+    char getAnalogOutputDomain1();
+    double getAnalogOutput0();
+    double getAnalogOutput1();
+    std::vector<double> getVActual();
+    float getMasterBoardTemperature();
+    float getRobotVoltage48V();
+    float getRobotCurrent();
+    float getMasterIOCurrent();
+    unsigned char getSafetyMode();
+    unsigned char getInReducedMode();
+    char getEuromap67InterfaceInstalled();
+    int getEuromapInputBits();
+    int getEuromapOutputBits();
+    float getEuromapVoltage();
+    float getEuromapCurrent();
 
-	bool isRobotConnected();
-	bool isRealRobotEnabled();
-	bool isPowerOnRobot();
-	bool isEmergencyStopped();
-	bool isProtectiveStopped();
-	bool isProgramRunning();
-	bool isProgramPaused();
-	unsigned char getRobotMode();
-	bool isReady();
+    bool isRobotConnected();
+    bool isRealRobotEnabled();
+    bool isPowerOnRobot();
+    bool isEmergencyStopped();
+    bool isProtectiveStopped();
+    bool isProgramRunning();
+    bool isProgramPaused();
+    unsigned char getRobotMode();
+    bool isReady();
 
-	void setDisconnected();
+    void setDisconnected();
 
-	bool getNewDataAvailable();
-	void finishedReading();
+    bool getNewDataAvailable();
+    void finishedReading();
 
-	void unpack(uint8_t * buf, unsigned int buf_length);
-	void unpackRobotMessage(uint8_t * buf, unsigned int offset, uint32_t len);
-	void unpackRobotMessageVersion(uint8_t * buf, unsigned int offset,
-			uint32_t len);
-	void unpackRobotState(uint8_t * buf, unsigned int offset, uint32_t len);
-	void unpackRobotStateMasterboard(uint8_t * buf, unsigned int offset);
-	void unpackRobotMode(uint8_t * buf, unsigned int offset);
+    void unpack(uint8_t* buf, unsigned int buf_length);
+    void unpackRobotMessage(uint8_t* buf, unsigned int offset, uint32_t len);
+    void unpackRobotMessageVersion(uint8_t* buf, unsigned int offset,
+        uint32_t len);
+    void unpackRobotState(uint8_t* buf, unsigned int offset, uint32_t len);
+    void unpackRobotStateMasterboard(uint8_t* buf, unsigned int offset);
+    void unpackRobotMode(uint8_t* buf, unsigned int offset);
 };
 
 #endif /* ROBOT_STATE_H_ */