CHG: constant values in screaming case

Author: slimasziom

robotiq_hande_driver/include/application.hpp

@@ -9,12 +9,12 @@
 namespace hande_driver
 {
 
-constexpr auto kGripperPositionMin = 0.0;
-constexpr auto kGripperPositionMax = 0.05;
-constexpr auto kGripperPositionStep = (kGripperPositionMax - kGripperPositionMin) / 255.0;
-constexpr auto kGripperCurrentScale = 0.01;
-constexpr auto kMaxSpeed = 255;
-constexpr auto kMaxForce = 255;
+constexpr auto GRIPPER_POSITION_MIN = 0.0;
+constexpr auto GRIPPER_POSITION_MAX = 0.05;
+constexpr auto GRIPPER_POSITION_STEP = (GRIPPER_POSITION_MAX - GRIPPER_POSITION_MIN) / 255.0;
+constexpr auto GRIPPER_CURRENT_SCALE = 0.01;
+constexpr auto MAX_SPEED = 255;
+constexpr auto MAX_FORCE = 255;
 
 /**
  * @brief This class contains high level gripper commands and status
@@ -92,7 +92,7 @@ class ApplicationLayer{
      * @note see status on success, exception thrown if communicatoin issues
      */
     void open() {
-        set_position(kGripperPositionMax);
+        set_position(GRIPPER_POSITION_MAX);
     };
 
     /**
@@ -103,7 +103,7 @@ class ApplicationLayer{
      * @note see status on success, exception thrown if communicatoin issues
      */
     void close() {
-        set_position(kGripperPositionMin);
+        set_position(GRIPPER_POSITION_MIN);
     };
 
     /**
@@ -159,7 +159,7 @@ class ApplicationLayer{
      */
     void set_position(double position) {
         protocol_logic_.go_to(
-            (uint8_t)((kGripperPositionMax - position) / kGripperPositionStep), kMaxSpeed, kMaxForce);
+            (uint8_t)((GRIPPER_POSITION_MAX - position) / GRIPPER_POSITION_STEP), MAX_SPEED, MAX_FORCE);
     };
 
     /**

robotiq_hande_driver/include/communication.hpp

@@ -5,19 +5,19 @@
 #include <string.h>
 
 
-namespace hande_driver 
+namespace hande_driver
 {
 
-constexpr auto kDeviceName = "/tmp/ttyUR";
-constexpr auto kBaudrate = 115200;
-constexpr auto kParity = 'N';
-constexpr auto kDataBits = 8;
-constexpr auto kStopBit = 1;
-constexpr auto kDebugModbus = true;
-constexpr uint8_t kSlaveID = 0x09;
+constexpr auto DEVICE_NAME = "/tmp/ttyUR";
+constexpr auto BAUDRATE = 115200;
+constexpr auto PARITY = 'N';
+constexpr auto DATA_BITS = 8;
+constexpr auto STOP_BIT = 1;
+constexpr auto DEBUG_MODBUS = true;
+constexpr uint8_t SLAVE_ID = 0x09;
 
-constexpr uint16_t kGripperOutputFirstReg = 0x07D0;
-constexpr uint16_t kGripperInputFirstReg = 0x03E8;
+constexpr uint16_t GRIPPER_OUTPUT_FIRST_REG = 0x07D0;
+constexpr uint16_t GRIPPER_INPUT_FIRST_REG = 0x03E8;
 
 constexpr auto kRegisterWordLength = 3;
 enum class OutputBytes : uint8_t {
@@ -95,10 +95,10 @@ class Communication{
      * @note see status on success, exception thrown in case of communication issues
      */
     modbus_write_and_read_registers(mb_,
-                                    kGripperInputFirstReg,
+                                    GRIPPER_INPUT_FIRST_REG,
                                     kRegisterWordLength,
                                     (uint16_t *)output_bytes_,
-                                    kGripperOutputFirstReg,
+                                    GRIPPER_OUTPUT_FIRST_REG,
                                     kRegisterWordLength,
                                     (uint16_t *)input_bytes_);
     };

robotiq_hande_driver/include/protocol_logic.hpp

@@ -80,8 +80,8 @@ enum class ObjectDetectionStatus : uint8_t {
     REQ_POS_NO_OBJECT
 };
 
-constexpr auto kGripperPositionOpenedThreshold = 230;
-constexpr auto kGripperPositionClosedThreshold = 13;
+constexpr auto GRIPPER_POSITION_OPENED_THRESHOLD = 230;
+constexpr auto GRIPPER_POSITION_CLOSED_THRESHOLD = 13;
 
 /**
  * @brief This class contains protocol oriented functions and definitions
@@ -216,7 +216,7 @@ class ProtocolLogic{
      * @return True if gripper is closed
      */
     bool is_closed() {
-        return position_ >= kGripperPositionOpenedThreshold;
+        return position_ >= GRIPPER_POSITION_OPENED_THRESHOLD;
     };
 
     /**
@@ -225,7 +225,7 @@ class ProtocolLogic{
      * @return True if gripper is opened
      */
     bool is_opened() {
-        return position_ <= kGripperPositionClosedThreshold;
+        return position_ <= GRIPPER_POSITION_CLOSED_THRESHOLD;
     };
 
     /**

robotiq_hande_driver/src/application.cpp

@@ -25,8 +25,8 @@ void ApplicationLayer::read(){
 
     //fault_status
 
-    requested_position_ = kGripperPositionMax - (double)protocol_logic_.get_reg_pos() * kGripperPositionStep;
-    position_ = kGripperPositionMax - (double)protocol_logic_.get_pos() * kGripperPositionStep;
-    current_ = (double)protocol_logic_.get_current() * kGripperCurrentScale;
+    requested_position_ = GRIPPER_POSITION_MAX - (double)protocol_logic_.get_reg_pos() * GRIPPER_POSITION_STEP;
+    position_ = GRIPPER_POSITION_MAX - (double)protocol_logic_.get_pos() * GRIPPER_POSITION_STEP;
+    current_ = (double)protocol_logic_.get_current() * GRIPPER_CURRENT_SCALE;
 }
 }   // namespace hande_driver

robotiq_hande_driver/src/communication.cpp

@@ -9,9 +9,9 @@ Communication::Communication()
 :    input_bytes_{}
 ,    output_bytes_{}
 {
-    mb_ = modbus_new_rtu(kDeviceName, kBaudrate, kParity, kDataBits, kStopBit);
-    modbus_set_slave(mb_, kSlaveID);
-    modbus_set_debug(mb_, kDebugModbus);
+    mb_ = modbus_new_rtu(DEVICE_NAME, BAUDRATE, PARITY, DATA_BITS, STOP_BIT);
+    modbus_set_slave(mb_, SLAVE_ID);
+    modbus_set_debug(mb_, DEBUG_MODBUS);
     connect();
 }
 
@@ -21,7 +21,7 @@ void Communication::connect(){
 
     modbus_connect(mb_);
 
-    result = modbus_read_registers(mb_, kGripperOutputFirstReg, 1, activation_status);
+    result = modbus_read_registers(mb_, GRIPPER_OUTPUT_FIRST_REG, 1, activation_status);
 
     if (result > 0) {
         printf("Connected successfully: %d\n", result);

robotiq_hande_driver/src/communication_test.cpp

@@ -2,23 +2,23 @@
 #include <unistd.h>
 #include <modbus/modbus.h>
 
-constexpr auto kRegisterReadLength = 32;
-constexpr auto kDeviceName = "/tmp/ttyUR";
-constexpr auto kBaudrate = 115200;
-constexpr auto kParity = 'N';
-constexpr auto kDataBits = 8;
-constexpr auto kStopBit = 1;
-constexpr auto kDebugModbus = true;
+constexpr auto REGISTER_READ_LENGTH = 32;
+constexpr auto DEVICE_NAME = "/tmp/ttyUR";
+constexpr auto BAUDRATE = 115200;
+constexpr auto PARITY = 'N';
+constexpr auto DATA_BITS = 8;
+constexpr auto STOP_BIT = 1;
+constexpr auto DEBUG_MODBUS = true;
 
 constexpr uint8_t SERVER_ID = 0x09;
 
 int main(void) {
   modbus_t *mb;
-  uint16_t tab_reg[kRegisterReadLength];
+  uint16_t tab_reg[REGISTER_READ_LENGTH];
 
-  mb = modbus_new_rtu(kDeviceName, kBaudrate, kParity, kDataBits, kStopBit);
+  mb = modbus_new_rtu(DEVICE_NAME, BAUDRATE, PARITY, DATA_BITS, STOP_BIT);
   modbus_set_slave(mb, SERVER_ID);
-  modbus_set_debug(mb, kDebugModbus);
+  modbus_set_debug(mb, DEBUG_MODBUS);
   modbus_connect(mb);
   printf("\nConnected\n");