From 89afe6d71d8b166197c423e148e3451f6d6e9ee7 Mon Sep 17 00:00:00 2001 From: URJala Date: Tue, 9 Jul 2024 06:29:58 +0000 Subject: [PATCH] Formatting --- include/ur_client_library/ur/ur_driver.h | 32 ++++++++++++++++-------- src/ur/ur_driver.cpp | 4 ++- 2 files changed, 24 insertions(+), 12 deletions(-) diff --git a/include/ur_client_library/ur/ur_driver.h b/include/ur_client_library/ur/ur_driver.h index e6cf099b..02a8a61a 100644 --- a/include/ur_client_library/ur/ur_driver.h +++ b/include/ur_client_library/ur/ur_driver.h @@ -128,15 +128,25 @@ class UrDriver * \param force_mode_damping The damping parameter used when the robot is in force mode, range [0,1] * \param force_mode_gain_scaling Scales the gain used when the robot is in force mode, range [0,2] (only e-series) */ - [[deprecated("Specifying the force mode damping factor and the force mode gain scaling factor at driver creation has " + [[deprecated( + "Specifying the force mode damping factor and the force mode gain scaling factor at driver creation has " "been deprecated. Force mode parameters should be specified with each activiation of force mode, and " - "can be set in the function call to start force mode.")]] - UrDriver(const std::string& robot_ip, const std::string& script_file, const std::string& output_recipe_file, - const std::string& input_recipe_file, std::function handle_program_state, bool headless_mode, - std::unique_ptr tool_comm_setup, const uint32_t reverse_port, - const uint32_t script_sender_port, int servoj_gain, double servoj_lookahead_time, bool non_blocking_read, - const std::string& reverse_ip, const uint32_t trajectory_port, const uint32_t script_command_port, - double force_mode_damping, double force_mode_gain_scaling = 0.5); + "can be set in the function call to start force mode.")]] UrDriver(const std::string& robot_ip, + const std::string& script_file, + const std::string& output_recipe_file, + const std::string& input_recipe_file, + std::function handle_program_state, + bool headless_mode, + std::unique_ptr tool_comm_setup, + const uint32_t reverse_port, + const uint32_t script_sender_port, + int servoj_gain, double servoj_lookahead_time, + bool non_blocking_read, + const std::string& reverse_ip, + const uint32_t trajectory_port, + const uint32_t script_command_port, + double force_mode_damping, + double force_mode_gain_scaling = 0.5); /*! * \brief Constructs a new UrDriver object. @@ -439,9 +449,9 @@ class UrDriver * \returns True, if the write was performed successfully, false otherwise. */ [[deprecated("Starting force mode without specifying the force mode damping factor and gain scale factor has been " - "deprecated. These values should be given with each function call.")]] - bool startForceMode(const vector6d_t& task_frame, const vector6uint32_t& selection_vector, const vector6d_t& wrench, - const unsigned int type, const vector6d_t& limits); + "deprecated. These values should be given with each function call.")]] bool + startForceMode(const vector6d_t& task_frame, const vector6uint32_t& selection_vector, const vector6d_t& wrench, + const unsigned int type, const vector6d_t& limits); /*! * \brief Stop force mode and put the robot into normal operation mode. diff --git a/src/ur/ur_driver.cpp b/src/ur/ur_driver.cpp index ed67b475..61293fbc 100644 --- a/src/ur/ur_driver.cpp +++ b/src/ur/ur_driver.cpp @@ -142,7 +142,9 @@ urcl::UrDriver::UrDriver(const std::string& robot_ip, const std::string& script_ } begin_replace << "set_tool_voltage(" << static_cast::type>(tool_comm_setup->getToolVoltage()) << ")\n"; - begin_replace << "set_tool_communication(" << "True" << ", " << tool_comm_setup->getBaudRate() << ", " + begin_replace << "set_tool_communication(" + << "True" + << ", " << tool_comm_setup->getBaudRate() << ", " << static_cast::type>(tool_comm_setup->getParity()) << ", " << tool_comm_setup->getStopBits() << ", " << tool_comm_setup->getRxIdleChars() << ", " << tool_comm_setup->getTxIdleChars() << ")";