Added clang formatting

src/ur/master_board.cpp

@@ -1,11 +1,12 @@
 #include "ur_modern_driver/ur/master_board.h"
 #include "ur_modern_driver/ur/consumer.h"
 
-bool SharedMasterBoardData::parse_with(BinParser &bp) {
+bool SharedMasterBoardData::parse_with(BinParser& bp)
+{
     bp.parse(analog_input_range0);
     bp.parse(analog_input_range1);
     bp.parse(analog_input0);
-    bp.parse(analog_input1);    
+    bp.parse(analog_input1);
     bp.parse(analog_output_domain0);
     bp.parse(analog_output_domain1);
     bp.parse(analog_output0);
@@ -17,8 +18,9 @@ bool SharedMasterBoardData::parse_with(BinParser &bp) {
     return true;
 }
 
-bool MasterBoardData_V1_X::parse_with(BinParser &bp) {
-    if(!bp.check_size<MasterBoardData_V1_X>())
+bool MasterBoardData_V1_X::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<MasterBoardData_V1_X>())
         return false;
 
     bp.parse(digital_input_bits);
@@ -30,8 +32,8 @@ bool MasterBoardData_V1_X::parse_with(BinParser &bp) {
     bp.parse(master_on_off_state);
     bp.parse(euromap67_interface_installed);
 
-    if(euromap67_interface_installed) {
-        if(!bp.check_size(MasterBoardData_V1_X::EURO_SIZE))
+    if (euromap67_interface_installed) {
+        if (!bp.check_size(MasterBoardData_V1_X::EURO_SIZE))
             return false;
 
         bp.parse(euromap_voltage);
@@ -41,23 +43,24 @@ bool MasterBoardData_V1_X::parse_with(BinParser &bp) {
     return true;
 }
 
-bool MasterBoardData_V3_0__1::parse_with(BinParser &bp) {
-    if(!bp.check_size<MasterBoardData_V3_0__1>())
+bool MasterBoardData_V3_0__1::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<MasterBoardData_V3_0__1>())
         return false;
 
     bp.parse(digital_input_bits);
     bp.parse(digital_output_bits);
-    
+
     SharedMasterBoardData::parse_with(bp);
 
     bp.parse(safety_mode);
     bp.parse(in_reduced_mode);
     bp.parse(euromap67_interface_installed);
 
-    if(euromap67_interface_installed) {
-        if(!bp.check_size(MasterBoardData_V3_0__1::EURO_SIZE))
+    if (euromap67_interface_installed) {
+        if (!bp.check_size(MasterBoardData_V3_0__1::EURO_SIZE))
             return false;
-            
+
         bp.parse(euromap_voltage);
         bp.parse(euromap_current);
     }
@@ -67,10 +70,9 @@ bool MasterBoardData_V3_0__1::parse_with(BinParser &bp) {
     return true;
 }
 
-
-
-bool MasterBoardData_V3_2::parse_with(BinParser &bp) {
-    if(!bp.check_size<MasterBoardData_V3_2>())
+bool MasterBoardData_V3_2::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<MasterBoardData_V3_2>())
         return false;
 
     MasterBoardData_V3_0__1::parse_with(bp);
@@ -81,16 +83,15 @@ bool MasterBoardData_V3_2::parse_with(BinParser &bp) {
     return true;
 }
 
-
-
-
-
-bool MasterBoardData_V1_X::consume_with(URStatePacketConsumer &consumer) {
+bool MasterBoardData_V1_X::consume_with(URStatePacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }
-bool MasterBoardData_V3_0__1::consume_with(URStatePacketConsumer &consumer) {
+bool MasterBoardData_V3_0__1::consume_with(URStatePacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }
-bool MasterBoardData_V3_2::consume_with(URStatePacketConsumer &consumer) {
+bool MasterBoardData_V3_2::consume_with(URStatePacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }

src/ur/messages.cpp

@@ -1,9 +1,9 @@
 #include "ur_modern_driver/ur/messages.h"
 #include "ur_modern_driver/ur/consumer.h"
 
+bool VersionMessage::parse_with(BinParser& bp)
+{
 
-bool VersionMessage::parse_with(BinParser &bp) {
-    
     bp.parse(project_name);
     bp.parse(major_version);
     bp.parse(minor_version);
@@ -11,10 +11,10 @@ bool VersionMessage::parse_with(BinParser &bp) {
     bp.consume(sizeof(uint32_t)); //undocumented field??
     bp.parse_remainder(build_date);
 
-    return true; //not really possible to check dynamic size packets    
+    return true; //not really possible to check dynamic size packets
 }
 
-
-bool VersionMessage::consume_with(URMessagePacketConsumer &consumer) {
+bool VersionMessage::consume_with(URMessagePacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }

src/ur/robot_mode.cpp

@@ -1,8 +1,8 @@
 #include "ur_modern_driver/ur/robot_mode.h"
 #include "ur_modern_driver/ur/consumer.h"
 
-
-bool SharedRobotModeData::parse_with(BinParser &bp) {
+bool SharedRobotModeData::parse_with(BinParser& bp)
+{
     bp.parse(timestamp);
     bp.parse(physical_robot_connected);
     bp.parse(real_robot_enabled);
@@ -11,9 +11,9 @@ bool SharedRobotModeData::parse_with(BinParser &bp) {
     return true;
 }
 
-
-bool RobotModeData_V1_X::parse_with(BinParser &bp) {
-    if(!bp.check_size<RobotModeData_V1_X>())
+bool RobotModeData_V1_X::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<RobotModeData_V1_X>())
         return false;
 
     SharedRobotModeData::parse_with(bp);
@@ -27,13 +27,13 @@ bool RobotModeData_V1_X::parse_with(BinParser &bp) {
     return true;
 }
 
-
-bool RobotModeData_V3_0__1::parse_with(BinParser &bp) {
-    if(!bp.check_size<RobotModeData_V3_0__1>())
+bool RobotModeData_V3_0__1::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<RobotModeData_V3_0__1>())
         return false;
 
     SharedRobotModeData::parse_with(bp);
-    
+
     bp.parse(protective_stopped);
     bp.parse(program_running);
     bp.parse(program_paused);
@@ -45,8 +45,9 @@ bool RobotModeData_V3_0__1::parse_with(BinParser &bp) {
     return true;
 }
 
-bool RobotModeData_V3_2::parse_with(BinParser &bp) {
-    if(!bp.check_size<RobotModeData_V3_2>())
+bool RobotModeData_V3_2::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<RobotModeData_V3_2>())
         return false;
 
     RobotModeData_V3_0__1::parse_with(bp);
@@ -56,15 +57,15 @@ bool RobotModeData_V3_2::parse_with(BinParser &bp) {
     return true;
 }
 
-
-
-
-bool RobotModeData_V1_X::consume_with(URStatePacketConsumer &consumer) {
+bool RobotModeData_V1_X::consume_with(URStatePacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }
-bool RobotModeData_V3_0__1::consume_with(URStatePacketConsumer &consumer) {
+bool RobotModeData_V3_0__1::consume_with(URStatePacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }
-bool RobotModeData_V3_2::consume_with(URStatePacketConsumer &consumer) {
+bool RobotModeData_V3_2::consume_with(URStatePacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }

src/ur/rt_state.cpp

@@ -1,8 +1,8 @@
 #include "ur_modern_driver/ur/rt_state.h"
 #include "ur_modern_driver/ur/consumer.h"
 
-
-bool RTShared::parse_shared1(BinParser &bp) {
+bool RTShared::parse_shared1(BinParser& bp)
+{
     bp.parse(time);
     bp.parse(q_target);
     bp.parse(qd_target);
@@ -15,7 +15,8 @@ bool RTShared::parse_shared1(BinParser &bp) {
     return true;
 }
 
-bool RTShared::parse_shared2(BinParser &bp) {
+bool RTShared::parse_shared2(BinParser& bp)
+{
     bp.parse(digital_input);
     bp.parse(motor_temperatures);
     bp.parse(controller_time);
@@ -23,13 +24,13 @@ bool RTShared::parse_shared2(BinParser &bp) {
     return true;
 }
 
-
-bool RTState_V1_6__7::parse_with(BinParser &bp) {
-    if(!bp.check_size<RTState_V1_6__7>())
+bool RTState_V1_6__7::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<RTState_V1_6__7>())
         return false;
 
     parse_shared1(bp);
-    
+
     bp.parse(tool_accelerometer_values);
     bp.parse(tcp_force);
     bp.parse(tool_vector_actual);
@@ -40,8 +41,9 @@ bool RTState_V1_6__7::parse_with(BinParser &bp) {
     return true;
 }
 
-bool RTState_V1_8::parse_with(BinParser &bp) {
-    if(!bp.check_size<RTState_V1_8>())
+bool RTState_V1_8::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<RTState_V1_8>())
         return false;
 
     RTState_V1_6__7::parse_with(bp);
@@ -51,8 +53,9 @@ bool RTState_V1_8::parse_with(BinParser &bp) {
     return true;
 }
 
-bool RTState_V3_0__1::parse_with(BinParser &bp) {
-    if(!bp.check_size<RTState_V3_0__1>())
+bool RTState_V3_0__1::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<RTState_V3_0__1>())
         return false;
 
     parse_shared1(bp);
@@ -74,7 +77,7 @@ bool RTState_V3_0__1::parse_with(BinParser &bp) {
     bp.parse(speed_scaling);
     bp.parse(linear_momentum_norm);
     bp.consume(sizeof(double)); //skip undocumented
-    bp.consume(sizeof(double)); //skip undocumented    
+    bp.consume(sizeof(double)); //skip undocumented
     bp.parse(v_main);
     bp.parse(v_robot);
     bp.parse(i_robot);
@@ -83,8 +86,9 @@ bool RTState_V3_0__1::parse_with(BinParser &bp) {
     return true;
 }
 
-bool RTState_V3_2__3::parse_with(BinParser &bp) {
-    if(!bp.check_size<RTState_V3_2__3>())
+bool RTState_V3_2__3::parse_with(BinParser& bp)
+{
+    if (!bp.check_size<RTState_V3_2__3>())
         return false;
 
     RTState_V3_0__1::parse_with(bp);
@@ -95,15 +99,19 @@ bool RTState_V3_2__3::parse_with(BinParser &bp) {
     return true;
 }
 
-bool RTState_V1_6__7::consume_with(URRTPacketConsumer &consumer) {
+bool RTState_V1_6__7::consume_with(URRTPacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }
-bool RTState_V1_8::consume_with(URRTPacketConsumer &consumer) {
+bool RTState_V1_8::consume_with(URRTPacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }
-bool RTState_V3_0__1::consume_with(URRTPacketConsumer &consumer) {
+bool RTState_V3_0__1::consume_with(URRTPacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }
-bool RTState_V3_2__3::consume_with(URRTPacketConsumer &consumer) {
+bool RTState_V3_2__3::consume_with(URRTPacketConsumer& consumer)
+{
     return consumer.consume(*this);
 }

src/ur/state.cpp

@@ -1,7 +1,5 @@
-#include "ur_modern_driver/log.h"
 #include "ur_modern_driver/ur/state.h"
-
-
+#include "ur_modern_driver/log.h"
 
 //StatePacket::~StatePacket() { }
 

src/ur/stream.cpp

@@ -1,13 +1,14 @@
 #include <cstring>
-#include <unistd.h>
-#include <netinet/tcp.h>
 #include <endian.h>
+#include <netinet/tcp.h>
+#include <unistd.h>
 
-#include "ur_modern_driver/ur/stream.h"
 #include "ur_modern_driver/log.h"
+#include "ur_modern_driver/ur/stream.h"
 
-bool URStream::connect() {
-    if(_initialized)
+bool URStream::connect()
+{
+    if (_initialized)
         return false;
 
     LOG_INFO("Connecting to UR @ %s:%d", _host.c_str(), _port);
@@ -23,20 +24,20 @@ bool URStream::connect() {
     hints.ai_socktype = SOCK_STREAM;
     hints.ai_flags = AI_PASSIVE;
 
-    if(getaddrinfo(_host.c_str(), service.c_str(), &hints, &result) != 0) {
-        LOG_ERROR("Failed to get host name");   
+    if (getaddrinfo(_host.c_str(), service.c_str(), &hints, &result) != 0) {
+        LOG_ERROR("Failed to get host name");
         return 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);
 
-        if(_socket_fd == -1) //socket error?
+        if (_socket_fd == -1) //socket error?
             continue;
 
-        if(::connect(_socket_fd, p->ai_addr, p->ai_addrlen) != 0) {
-            if(_stopping)
+        if (::connect(_socket_fd, p->ai_addr, p->ai_addrlen) != 0) {
+            if (_stopping)
                 break;
             else
                 continue; //try next addrinfo if connect fails
@@ -51,14 +52,15 @@ bool URStream::connect() {
     }
 
     freeaddrinfo(result);
-    if(!_initialized) 
+    if (!_initialized)
         LOG_ERROR("Connection failed");
 
     return _initialized;
 }
 
-void URStream::disconnect() {
-    if(!_initialized || _stopping)
+void URStream::disconnect()
+{
+    if (!_initialized || _stopping)
         return;
 
     _stopping = true;
@@ -66,10 +68,11 @@ void URStream::disconnect() {
     _initialized = false;
 }
 
-ssize_t URStream::send(uint8_t *buf, size_t buf_len) {
-    if(!_initialized)
+ssize_t URStream::send(uint8_t* buf, size_t buf_len)
+{
+    if (!_initialized)
         return -1;
-    if(_stopping)
+    if (_stopping)
         return 0;
 
     size_t total = 0;
@@ -77,9 +80,9 @@ ssize_t URStream::send(uint8_t *buf, size_t buf_len) {
 
     //TODO: handle reconnect?
     //handle partial sends
-    while(total < buf_len) {
-        ssize_t sent = ::send(_socket_fd, buf+total, remaining, 0);
-        if(sent <= 0) 
+    while (total < buf_len) {
+        ssize_t sent = ::send(_socket_fd, buf + total, remaining, 0);
+        if (sent <= 0)
             return _stopping ? 0 : sent;
         total += sent;
         remaining -= sent;
@@ -88,24 +91,25 @@ ssize_t URStream::send(uint8_t *buf, size_t buf_len) {
     return total;
 }
 
-ssize_t URStream::receive(uint8_t *buf, size_t buf_len) {
-    if(!_initialized)
+ssize_t URStream::receive(uint8_t* buf, size_t buf_len)
+{
+    if (!_initialized)
         return -1;
-    if(_stopping)
+    if (_stopping)
         return 0;
 
     size_t remainder = sizeof(int32_t);
-    uint8_t *buf_pos = buf;
+    uint8_t* buf_pos = buf;
     bool initial = true;
 
     do {
         ssize_t read = recv(_socket_fd, buf_pos, remainder, 0);
-        if(read <= 0) //failed reading from socket
-            return _stopping ? 0 : read; 
-        
-        if(initial) {
+        if (read <= 0) //failed reading from socket
+            return _stopping ? 0 : read;
+
+        if (initial) {
             remainder = be32toh(*(reinterpret_cast<int32_t*>(buf)));
-            if(remainder >= (buf_len - sizeof(int32_t))) {
+            if (remainder >= (buf_len - sizeof(int32_t))) {
                 LOG_ERROR("Packet size %d is larger than buffer %d, discarding.", remainder, buf_len);
                 return -1;
             }
@@ -113,8 +117,8 @@ ssize_t URStream::receive(uint8_t *buf, size_t buf_len) {
         }
 
         buf_pos += read;
-        remainder -= read;        
-    } while(remainder > 0);
+        remainder -= read;
+    } while (remainder > 0);
 
     return buf_pos - buf;
 }