CHG: cleanup

Author: macmacal

robotiq_hande_driver/hardware/include/robotiq_hande_driver/protocol_logic.hpp

@@ -1,7 +1,6 @@
 #ifndef ROBOTIQ_HANDE_DRIVER__PROTOCOL_LOGIC_HPP_
 #define ROBOTIQ_HANDE_DRIVER__PROTOCOL_LOGIC_HPP_
 
-#include <cstdint>
 #include "robotiq_hande_driver/communication.hpp"
 
 namespace robotiq_hande_driver {

robotiq_hande_driver/hardware/src/hande_gripper.cpp

@@ -84,7 +84,6 @@ void HandeGripper::set_position(double position, double force) {
     static double prev_position = std::numeric_limits<double>::quiet_NaN();
     static double prev_force = std::numeric_limits<double>::quiet_NaN();
 
-    // TODO: decide if this is the bottleneck
     if(!std::isnan(prev_position) && std::fabs(position - prev_position) < EPSILON) return;
     if(!std::isnan(prev_force) && std::fabs(force - prev_force) < EPSILON) return;
     prev_position = position;

robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp

@@ -204,8 +204,6 @@ void RobotiqHandeHardwareInterface::gripper_communication() {
     while(th_comm_enabled_) {
         try {
             gripper_driver_.read();
-            // TODO try to remove these mutexes by using second pair of variables
-            // Also, profiling the code also would be nice
             {
                 std::lock_guard<std::mutex> lock(mtx_read_);
                 read_position_ = gripper_driver_.get_position();

robotiq_hande_driver/hardware/src/protocol_logic.cpp

@@ -74,7 +74,6 @@ void ProtocolLogic::go_to(uint8_t position, uint8_t velocity, uint8_t force) {
     set_output_byte(OutputBytes::POSITION_REQUEST, position);
     set_output_byte(OutputBytes::SPEED, velocity);
     set_output_byte(OutputBytes::FORCE, force);
-    // write_output_bytes(); // TODO - check if this line was the problem
 }
 
 void ProtocolLogic::stop() {
@@ -132,8 +131,6 @@ uint8_t ProtocolLogic::get_raw_current() const {
 }
 
 void ProtocolLogic::read_input_bytes() {
-    // TODO - this method should be much faster - just switch pointers to access data
-    // The duty of parsing should be moved to the 2nd thread
     communication_.read(input_bytes_);
 
     raw_status_ = get_input_byte(InputBytes::GRIPPER_STATUS);
@@ -164,7 +161,6 @@ void ProtocolLogic::read_input_bytes() {
 }
 
 void ProtocolLogic::write_output_bytes() {
-    // TODO: output_butes_ should be atomic - we need to prepare two copies of it
     communication_.write(output_bytes_);
 }