Code cleanup
This commit is contained in:
jacobperron
parent
8a3209d6a1
commit
bcd27b788a
13 changed files with 142 additions and 146 deletions
|
|
@ -18,9 +18,9 @@ modification, are permitted provided that the following conditions are met:
|
|||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
|
|
@ -65,7 +65,7 @@ namespace create {
|
|||
|
||||
create::Pose pose;
|
||||
create::Vel vel;
|
||||
|
||||
|
||||
uint32_t prevTicksLeft;
|
||||
uint32_t prevTicksRight;
|
||||
float prevLeftVel;
|
||||
|
|
@ -108,8 +108,10 @@ namespace create {
|
|||
/* Resets as if you have removed the battery.
|
||||
* Changes mode to MODE_PASSIVE.
|
||||
*/
|
||||
// TODO
|
||||
//void reset();
|
||||
|
||||
// TODO
|
||||
//void setBaud(int baudcode);
|
||||
|
||||
/* Change Create mode.
|
||||
|
|
@ -145,6 +147,7 @@ namespace create {
|
|||
|
||||
/* Set the PWM for each wheel.
|
||||
*/
|
||||
// TODO
|
||||
//void drivePWM(const int16_t& leftWheel, const int16_t& rightWheel) const;
|
||||
|
||||
/* Set the forward and angular velocity of Create.
|
||||
|
|
@ -206,6 +209,7 @@ namespace create {
|
|||
//void setDigits(uint8_t digit1, uint8_t digit2,
|
||||
// uint8_t digit3, uint8_t digit4);
|
||||
|
||||
// TODO
|
||||
// pushButton(...);
|
||||
|
||||
/* Set the four 7-segment display digits from left to right with ASCII codes.
|
||||
|
|
@ -236,6 +240,7 @@ namespace create {
|
|||
*/
|
||||
bool playSong(const uint8_t& songNumber) const;
|
||||
|
||||
// TODO
|
||||
//void registerCallback(...);
|
||||
|
||||
/* True if a left or right wheeldrop is detected.
|
||||
|
|
|
|||
|
|
@ -18,9 +18,9 @@ modification, are permitted provided that the following conditions are met:
|
|||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
|
|
|
|||
|
|
@ -18,9 +18,9 @@ modification, are permitted provided that the following conditions are met:
|
|||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
|
|
@ -39,20 +39,19 @@ namespace create {
|
|||
uint16_t data;
|
||||
uint16_t tmpData;
|
||||
mutable boost::mutex dataMutex;
|
||||
mutable boost::mutex tmpDataMutex;
|
||||
|
||||
public:
|
||||
// TODO: Do they really need to be const? then they better be static
|
||||
// I am actually not sure if const member vars are valid
|
||||
const uint8_t nbytes;
|
||||
const std::string info;
|
||||
|
||||
Packet(const uint8_t& nbytes, const std::string& info);
|
||||
~Packet();
|
||||
|
||||
// All of the following are thread safe
|
||||
void setTempData(const uint16_t& td);
|
||||
void validate();
|
||||
// thread safe
|
||||
void setData(const uint16_t& d);
|
||||
// thread safe
|
||||
uint16_t getData() const;
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -18,9 +18,9 @@ modification, are permitted provided that the following conditions are met:
|
|||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
|
|
@ -67,8 +67,7 @@ namespace create {
|
|||
bool isReading;
|
||||
bool firstRead;
|
||||
|
||||
// These are just for diagnostics, maybe not necessary
|
||||
// TODO: Investigate
|
||||
// These are for possible diagnostics
|
||||
uint64_t corruptPackets;
|
||||
uint64_t totalPackets;
|
||||
// State machine variables
|
||||
|
|
@ -83,8 +82,6 @@ namespace create {
|
|||
uint8_t expectedNumDataBytes;
|
||||
|
||||
// Callback executed when data arrives from Create
|
||||
// TODO: Should size be const?
|
||||
// Not sure, this was from example
|
||||
void onData(const boost::system::error_code& e, const std::size_t& size);
|
||||
// Callback to execute once data arrives
|
||||
boost::function<void()> callback;
|
||||
|
|
|
|||
|
|
@ -18,9 +18,9 @@ modification, are permitted provided that the following conditions are met:
|
|||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
|
|
|
|||
|
|
@ -18,9 +18,9 @@ modification, are permitted provided that the following conditions are met:
|
|||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
|
|
@ -49,7 +49,7 @@ namespace create {
|
|||
static const float PI = 3.14159;
|
||||
static const float TWO_PI = 6.28318;
|
||||
static const float EPS = 0.0001;
|
||||
|
||||
|
||||
inline float normalizeAngle(const float& angle) {
|
||||
float a = angle;
|
||||
while (a < -PI) a += TWO_PI;
|
||||
|
|
@ -57,9 +57,10 @@ namespace create {
|
|||
return a;
|
||||
};
|
||||
|
||||
typedef unsigned long long timestamp_t;
|
||||
|
||||
/** Get a timestamp for the current time in micro-seconds.
|
||||
*/
|
||||
typedef unsigned long long timestamp_t;
|
||||
static timestamp_t getTimestamp() {
|
||||
struct timeval now;
|
||||
gettimeofday(&now, NULL);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue