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harmonize coding style

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This commit is contained in:
Samuel Sadok
2020-08-05 18:52:25 +02:00
parent 4c6fe56a5d
commit b56f7c1ff2
1 changed files with 44 additions and 59 deletions
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Firmware/communication/ascii_protocol.cpp
+44 -59
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@@ -27,19 +27,19 @@
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/
void setPosition(char * pStr, StreamSink& response_channel, bool use_checksum);
void setPositionWL(char * pStr, StreamSink& response_channel, bool use_checksum);
void setVelocity(char * pStr, StreamSink& response_channel, bool use_checksum);
void setCurrent(char * pStr, StreamSink& response_channel, bool use_checksum);
void setTrapezoidTrajectory(char * pStr, StreamSink& response_channel, bool use_checksum);
void getFeedback(char * pStr, StreamSink& response_channel, bool use_checksum);
void help(char * pStr, StreamSink& response_channel, bool use_checksum);
void infoDump(char * pStr, StreamSink& response_channel, bool use_checksum);
void systemCTRL(char * pStr, StreamSink& response_channel, bool use_checksum);
void readProperty(char * pStr, StreamSink& response_channel, bool use_checksum);
void writeProperty(char * pStr, StreamSink& response_channel, bool use_checksum);
void updateAxisWDG(char * pStr, StreamSink& response_channel, bool use_checksum);
void unknownCMD(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_set_position(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_set_position_wl(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_set_velocity(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_set_current(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_set_trapezoid_trajectory(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_get_feedback(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_help(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_info_dump(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_system_ctrl(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_read_property(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_write_property(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_update_axis_wdg(char * pStr, StreamSink& response_channel, bool use_checksum);
void cmd_unknown(char * pStr, StreamSink& response_channel, bool use_checksum);
/* Function implementations --------------------------------------------------*/
@@ -50,12 +50,12 @@ void respond(StreamSink& output, bool include_checksum, const char * fmt, TArgs&
size_t len = snprintf(response, sizeof(response), fmt, std::forward<TArgs>(args)...);
output.process_bytes((uint8_t*)response, len, nullptr); // TODO: use process_all instead
if (include_checksum)
{
if (include_checksum) {
uint8_t checksum = 0;
for (size_t i = 0; i < len; ++i)
checksum ^= response[i];
output.process_bytes((uint8_t*)response, snprintf(response, sizeof(response), "*%u", checksum), nullptr);
len = snprintf(response, sizeof(response), "*%u", checksum);
output.process_bytes((uint8_t*)response, len, nullptr);
}
output.process_bytes((const uint8_t*)"\r\n", 2, nullptr);
}
@@ -75,8 +75,7 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
len = i;
break;
}
if (checksum_start > i)
{
if (checksum_start > i) {
if (buffer[i] == '*') {
checksum_start = i + 1;
} else {
@@ -104,21 +103,20 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
// check incoming packet type
switch(cmd[0])
{
case 'p': setPosition(cmd, response_channel, use_checksum); break; // position control
case 'q': setPositionWL(cmd, response_channel, use_checksum); break; // position control with limits
case 'v': setVelocity(cmd, response_channel, use_checksum); break; // velocity control
case 'c': setCurrent(cmd, response_channel, use_checksum); break; // current control
case 't': setTrapezoidTrajectory(cmd, response_channel, use_checksum); break; // trapezoidal trajectory
case 'f': getFeedback(cmd, response_channel, use_checksum); break; // feedback
case 'h': help(cmd, response_channel, use_checksum); break; // Help
case 'i': infoDump(cmd, response_channel, use_checksum); break; // Dump device info
case 's': systemCTRL(cmd, response_channel, use_checksum); break; // System
case 'r': readProperty(cmd, response_channel, use_checksum); break; // read property
case 'w': writeProperty(cmd, response_channel, use_checksum); break; // write property
case 'u': updateAxisWDG(cmd, response_channel, use_checksum); break; // Update axis watchdog.
default : unknownCMD(nullptr, response_channel, use_checksum); break;
switch(cmd[0]) {
case 'p': cmd_set_position(cmd, response_channel, use_checksum); break; // position control
case 'q': cmd_set_position_wl(cmd, response_channel, use_checksum); break; // position control with limits
case 'v': cmd_set_velocity(cmd, response_channel, use_checksum); break; // velocity control
case 'c': cmd_set_current(cmd, response_channel, use_checksum); break; // current control
case 't': cmd_set_trapezoid_trajectory(cmd, response_channel, use_checksum); break; // trapezoidal trajectory
case 'f': cmd_get_feedback(cmd, response_channel, use_checksum); break; // feedback
case 'h': cmd_help(cmd, response_channel, use_checksum); break; // Help
case 'i': cmd_info_dump(cmd, response_channel, use_checksum); break; // Dump device info
case 's': cmd_system_ctrl(cmd, response_channel, use_checksum); break; // System
case 'r': cmd_read_property(cmd, response_channel, use_checksum); break; // read property
case 'w': cmd_write_property(cmd, response_channel, use_checksum); break; // write property
case 'u': cmd_update_axis_wdg(cmd, response_channel, use_checksum); break; // Update axis watchdog.
default : cmd_unknown(nullptr, response_channel, use_checksum); break;
}
}
@@ -126,8 +124,7 @@ void ASCII_protocol_process_line(const uint8_t* buffer, size_t len, StreamSink&
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void setPosition(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_set_position(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float pos_setpoint, vel_feed_forward, current_feed_forward;
@@ -153,8 +150,7 @@ void setPosition(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void setPositionWL(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_set_position_wl(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float pos_setpoint, vel_limit, current_lim;
@@ -180,8 +176,7 @@ void setPositionWL(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void setVelocity(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_set_velocity(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float vel_setpoint, current_feed_forward;
int numscan = sscanf(pStr, "v %u %f %f", &motor_number, &vel_setpoint, &current_feed_forward);
@@ -203,8 +198,7 @@ void setVelocity(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void setCurrent(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_set_current(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float current_setpoint;
@@ -224,8 +218,7 @@ void setCurrent(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void setTrapezoidTrajectory(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_set_trapezoid_trajectory(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
float goal_point;
@@ -245,8 +238,7 @@ void setTrapezoidTrajectory(char * pStr, StreamSink& response_channel, bool use_
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void getFeedback(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_get_feedback(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
if (sscanf(pStr, "f %u", &motor_number) < 1) {
@@ -265,8 +257,7 @@ void getFeedback(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void help(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_help(char * pStr, StreamSink& response_channel, bool use_checksum) {
(void)pStr;
respond(response_channel, use_checksum, "Please see documentation for more details");
respond(response_channel, use_checksum, "");
@@ -289,8 +280,7 @@ void help(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void infoDump(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_info_dump(char * pStr, StreamSink& response_channel, bool use_checksum) {
// respond(response_channel, use_checksum, "Signature: %#x", STM_ID_GetSignature());
// respond(response_channel, use_checksum, "Revision: %#x", STM_ID_GetRevision());
// respond(response_channel, use_checksum, "Flash Size: %#x KiB", STM_ID_GetFlashSize());
@@ -303,8 +293,7 @@ void infoDump(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void systemCTRL(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_system_ctrl(char * pStr, StreamSink& response_channel, bool use_checksum) {
switch (pStr[1])
{
case 's': save_configuration(); break; // Save config
@@ -318,8 +307,7 @@ void systemCTRL(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void readProperty(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_read_property(char * pStr, StreamSink& response_channel, bool use_checksum) {
char name[MAX_LINE_LENGTH];
if (sscanf(pStr, "r %255s", name) < 1) {
@@ -339,8 +327,7 @@ void readProperty(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void writeProperty(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_write_property(char * pStr, StreamSink& response_channel, bool use_checksum) {
char name[MAX_LINE_LENGTH];
char value[MAX_LINE_LENGTH];
@@ -362,8 +349,7 @@ void writeProperty(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void updateAxisWDG(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_update_axis_wdg(char * pStr, StreamSink& response_channel, bool use_checksum) {
unsigned motor_number;
if(sscanf(pStr, "u %u", &motor_number) < 1) {
@@ -379,8 +365,7 @@ void updateAxisWDG(char * pStr, StreamSink& response_channel, bool use_checksum)
// @param pStr buffer of ASCII encoded values
// @param response_channel reference to the stream to respond on
// @param use_checksum bool to indicate whether a checksum is required on response
void unknownCMD(char * pStr, StreamSink& response_channel, bool use_checksum)
{
void cmd_unknown(char * pStr, StreamSink& response_channel, bool use_checksum) {
(void)pStr;
respond(response_channel, use_checksum, "unknown command");
}