Changeset 15 in flair-src for trunk/lib/FlairSensorActuator/src/XBldc_impl.cpp

Timestamp:

04/08/16 15:40:57 (8 years ago)

Author:

Bayard Gildas

Message:

sources reformatted with flair-format-dir script

File:

• trunk/lib/FlairSensorActuator/src/XBldc_impl.cpp (modified) (2 diffs)

trunk/lib/FlairSensorActuator/src/XBldc_impl.cpp

@@ -29 +29 @@
 using namespace flair::actuator;
 
-XBldc_impl::XBldc_impl(XBldc* self,I2cPort* i2cport) {
-    this->self=self;
-        this->i2cport=i2cport;
+XBldc_impl::XBldc_impl(XBldc *self, I2cPort *i2cport) {
+  this->self = self;
+  this->i2cport = i2cport;
 
-    i2cport->SetTxTimeout(5000000);
+  i2cport->SetTxTimeout(5000000);
 }
 
-XBldc_impl::~XBldc_impl() {
-}
+XBldc_impl::~XBldc_impl() {}
 
-void XBldc_impl::SetMotors(float* value) {
-    uint8_t tosend_value[5];
+void XBldc_impl::SetMotors(float *value) {
+  uint8_t tosend_value[5];
 
-    for(int i=0;i<4;i++) tosend_value[i]=(uint8_t)(MAX_VALUE*value[i]);
+  for (int i = 0; i < 4; i++)
+    tosend_value[i] = (uint8_t)(MAX_VALUE * value[i]);
 
-    ssize_t written;
-    tosend_value[4]=0xaa;
-    for(int i=0;i<4;i++) tosend_value[4]+=tosend_value[i];
-    self->Err("please verify motors adresses\n");
-    //todo faire la procedure changement addresse par la station sol
-/*
-    i2cport->GetMutex();
-    i2cport->SetSlave(BASE_ADDRESS);
+  ssize_t written;
+  tosend_value[4] = 0xaa;
+  for (int i = 0; i < 4; i++)
+    tosend_value[4] += tosend_value[i];
+  self->Err("please verify motors adresses\n");
+  // todo faire la procedure changement addresse par la station sol
+  /*
+      i2cport->GetMutex();
+      i2cport->SetSlave(BASE_ADDRESS);
 
-    written =i2cport->Write(tosend_value, sizeof(tosend_value));
-    if(written<0)
-    {
-        self->Err("rt_dev_write error (%s)\n",strerror(-written));
-    }
-    else if (written != sizeof(tosend_value))
-    {
-        self->Err("rt_dev_write error %i/%i\n",written,sizeof(tosend_value));
-    }
+      written =i2cport->Write(tosend_value, sizeof(tosend_value));
+      if(written<0)
+      {
+          self->Err("rt_dev_write error (%s)\n",strerror(-written));
+      }
+      else if (written != sizeof(tosend_value))
+      {
+          self->Err("rt_dev_write error %i/%i\n",written,sizeof(tosend_value));
+      }
 
-    i2cport->ReleaseMutex();*/
-
+      i2cport->ReleaseMutex();*/
 }
 /*
@@ -94 +94 @@
 */
 void XBldc_impl::ChangeDirection(uint8_t moteur) {
-    unsigned char tx[4];
-    ssize_t written;
+  unsigned char tx[4];
+  ssize_t written;
 
-    tx[0]=254;
-    tx[1]=moteur;
-    tx[2]=0;
-    tx[3]=234+moteur;
+  tx[0] = 254;
+  tx[1] = moteur;
+  tx[2] = 0;
+  tx[3] = 234 + moteur;
 
-    i2cport->GetMutex();
-    i2cport->SetSlave(BASE_ADDRESS);
+  i2cport->GetMutex();
+  i2cport->SetSlave(BASE_ADDRESS);
 
-    written =i2cport->Write(tx, sizeof(tx));
-    if(written<0) {
-        self->Err("rt_dev_write (%s) error\n",strerror(-written));
-    } else if (written != sizeof(tx)) {
-        self->Err("rt_dev_write %i/%i error\n",written,sizeof(tx));
-    }
+  written = i2cport->Write(tx, sizeof(tx));
+  if (written < 0) {
+    self->Err("rt_dev_write (%s) error\n", strerror(-written));
+  } else if (written != sizeof(tx)) {
+    self->Err("rt_dev_write %i/%i error\n", written, sizeof(tx));
+  }
 
-    i2cport->ReleaseMutex();
+  i2cport->ReleaseMutex();
 }
 
-void XBldc_impl::ChangeAdress(uint8_t old_add,uint8_t new_add) {
-    unsigned char tx[4];
-    ssize_t written;
+void XBldc_impl::ChangeAdress(uint8_t old_add, uint8_t new_add) {
+  unsigned char tx[4];
+  ssize_t written;
 
-    tx[0]=250;
-    tx[1]=old_add;
-    tx[2]=new_add;
-    tx[3]=230+old_add+new_add;
+  tx[0] = 250;
+  tx[1] = old_add;
+  tx[2] = new_add;
+  tx[3] = 230 + old_add + new_add;
 
-    i2cport->GetMutex();
-    i2cport->SetSlave(BASE_ADDRESS);
+  i2cport->GetMutex();
+  i2cport->SetSlave(BASE_ADDRESS);
 
-    written =i2cport->Write(tx, sizeof(tx));
-    if(written<0) {
-        self->Err("rt_dev_write error (%s)\n",strerror(-written));
-    } else if (written != sizeof(tx)) {
-        self->Err("rt_dev_write error %i/%i\n",written,sizeof(tx));
-    }
+  written = i2cport->Write(tx, sizeof(tx));
+  if (written < 0) {
+    self->Err("rt_dev_write error (%s)\n", strerror(-written));
+  } else if (written != sizeof(tx)) {
+    self->Err("rt_dev_write error %i/%i\n", written, sizeof(tx));
+  }
 
-    i2cport->ReleaseMutex();
+  i2cport->ReleaseMutex();
 }
 
-uint8_t XBldc_impl::Sat(float value,uint8_t min,uint8_t max) {
-  uint8_t sat_value=(uint8_t)value;
+uint8_t XBldc_impl::Sat(float value, uint8_t min, uint8_t max) {
+  uint8_t sat_value = (uint8_t)value;
 
-  if(value>((float)sat_value+0.5)) sat_value++;
+  if (value > ((float)sat_value + 0.5))
+    sat_value++;
 
-  if(value<(float)min) sat_value=min;
-  if(value>(float)max) sat_value=max;
+  if (value < (float)min)
+    sat_value = min;
+  if (value > (float)max)
+    sat_value = max;
 
   return sat_value;