From 92ce1a77f0944d4b60cb89f1e1f0b1ef8133d618 Mon Sep 17 00:00:00 2001
From: Johann Mantel <j-mantel@gmx.net>
Date: Thu, 17 Jun 2021 18:32:04 +0200
Subject: [PATCH] code formatting
---
.../drivers/SickLaserUnit/SickLaserUnit.cpp | 31 +++++++++----------
1 file changed, 14 insertions(+), 17 deletions(-)
diff --git a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
index 2de3d8415..a38cc31d3 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
+++ b/source/RobotAPI/drivers/SickLaserUnit/SickLaserUnit.cpp
@@ -76,10 +76,9 @@ void SickLaserUnit::onInitComponent() {
std::string scannerName;
if (false == nhPriv.getParam("scanner_type", scannerName)) {
- ROS_ERROR(
- "cannot find parameter "
- "scanner_type"
- " in the param set. Please specify scanner_type.");
+ ROS_ERROR("cannot find parameter "
+ "scanner_type"
+ " in the param set. Please specify scanner_type.");
ROS_ERROR("Try to set %s as fallback.\n", nodeName.c_str());
scannerName = nodeName;
}
@@ -109,7 +108,7 @@ void SickLaserUnit::onInitComponent() {
new sick_scan::SickGenericParser(scannerName);
double param;
- char colaDialectId = 'A'; // A or B (Ascii or Binary)
+ char colaDialectId = 'A'; // A or B (Ascii or Binary)
if (nhPriv.getParam("range_min", param)) {
parser->set_range_min(param);
@@ -163,14 +162,13 @@ void SickLaserUnit::onConnectComponent() {
ROS_INFO("Start initialising scanner [Ip: %s] [Port: %s]", hostname.c_str(),
port.c_str());
// attempt to connect/reconnect
- delete s; // disconnect scanner
+ delete s; // disconnect scanner
if (useTCP) {
s = new sick_scan::SickScanCommonTcp(hostname, port, timelimit, parser,
colaDialectId);
} else {
- ROS_ERROR(
- "TCP is not switched on. Probably hostname or port not set. Use "
- "roslaunch to start node.");
+ ROS_ERROR("TCP is not switched on. Probably hostname or port not set. Use "
+ "roslaunch to start node.");
exit(-1);
}
@@ -181,16 +179,15 @@ void SickLaserUnit::onConnectComponent() {
isInitialized = true;
signal(SIGINT,
- SIG_DFL); // change back to standard signal handler after initialising
- if (result == sick_scan::ExitSuccess) // OK -> loop again
+ SIG_DFL); // change back to standard signal handler after initialising
+ if (result == sick_scan::ExitSuccess) // OK -> loop again
{
if (changeIP) {
runState = scanner_finalize;
}
-
- runState = scanner_run; // after initialising switch to run state
+ runState = scanner_run; // after initialising switch to run state
} else {
- runState = scanner_init; // If there was an error, try to restart scanner
+ runState = scanner_init; // If there was an error, try to restart scanner
}
// Do things after connecting to topics and components.
@@ -222,12 +219,12 @@ void SickLaserUnit::onConnectComponent() {
void SickLaserUnit::run() {
while (!task->isStopped()) {
- if (result == sick_scan::ExitSuccess) // OK -> loop again
+ if (result == sick_scan::ExitSuccess) // OK -> loop again
{
ros::spinOnce();
result = s->loopOnce();
} else {
- runState = scanner_finalize; // interrupt
+ runState = scanner_finalize; // interrupt
}
}
}
@@ -315,4 +312,4 @@ arviz)
}
*/
-} // namespace armarx
+} // namespace armarx
--
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