CHG: static cast

Author: slimasziom

robotiq_hande_driver/include/communication.hpp

@@ -2,7 +2,7 @@
 #define COMMUNICATION_HPP_
 
 #include <modbus/modbus.h>
-#include <string.h>
+#include <cstring>
 
 
 namespace hande_driver
@@ -112,7 +112,7 @@ class Communication{
      */
     void clear_output_bytes() {
         memset(output_bytes_, 0, sizeof(output_bytes_));
-    };
+    }; 
 
     /**
      * @brief Retrieves the input byte value at the specified index.
@@ -122,7 +122,7 @@ class Communication{
      * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
      */
     uint8_t get_input_byte(InputBytes index) {
-        return input_bytes_[(uint)index];
+        return input_bytes_[static_cast<uint>(index)];
     };
 
     /**
@@ -134,7 +134,7 @@ class Communication{
      * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
      */
     void set_output_byte(OutputBytes index, uint8_t value) {
-        output_bytes_[(uint)index] = value;
+        output_bytes_[static_cast<uint>(index)] = value;
     };
 
     /**
@@ -145,8 +145,8 @@ class Communication{
      * @return None.
      */
     void write_action_bit(uint8_t position_bit, bool value) {
-        output_bytes_[(uint)OutputBytes::ACTION_REQUEST] = bit_set_to(
-            output_bytes_[(uint)OutputBytes::ACTION_REQUEST], position_bit, value);
+        output_bytes_[static_cast<uint>(OutputBytes::ACTION_REQUEST)] = bit_set_to(
+            output_bytes_[static_cast<uint>(OutputBytes::ACTION_REQUEST)], position_bit, value);
     };
 
     /**
@@ -157,8 +157,10 @@ class Communication{
      * @param x The boolean value to set the bit to.
      * @return The modified number with the n-th bit set to the specified value.
      */
-    uint bit_set_to(uint number, uint n, bool x) {
-        return (number & ~((uint)1 << n)) | ((uint)x << n);
+    uint bit_set_to(uint value, uint n, bool x) {
+        uint reset_n_bit = ~(1u << n);
+        uint set_n_bit = static_cast<uint>(x) << n;
+        return (value & reset_n_bit) | set_n_bit;
     };
 
 private:

robotiq_hande_driver/include/protocol_logic.hpp

@@ -37,7 +37,7 @@ enum class AutoReleaseDirection : uint8_t  {
     OPENING
 };
 
-// Gripper Status
+/* Gripper Status */
 enum class ResponseByte : uint8_t {
     STATUS = 0u,
     FAULT_STATUS = 2u,
@@ -52,27 +52,27 @@ enum class StatusPositionBit : uint8_t {
     OBJECT_DETECTION_STATUS = 6u,   /* gObj */
 };
 
-constexpr auto kActivationStatusBits = 0b1;
+constexpr auto ACTIVATION_STATUS_BITS = 0b1;
 enum class ActivationStatus : uint8_t {
     GRIPPER_RESET = 0u,
     GRIPPER_ACTIVATION
 };
 
-constexpr auto kActionStatusBits = 0b1;
+constexpr auto ACTION_STATUS_BITS = 0b1;
 enum class ActionStatus : uint8_t {
     STOPPED = 0u,
     GO_TO_POSITION_REQUEST
 };
 
-constexpr auto kGripperStatusBits = 0b11;
+constexpr auto GRIPPER_STATUS_BITS = 0b11;
 enum class GripperStatus : uint8_t {
     GRIPPER_IN_RESET = 0u,
     ACTIVATION_IN_PROGRESS,
     NOT_USED,
     ACTIVATION_COMPLETE
 };
 
-constexpr auto kObjectDetectionStatusBits = 0b11;
+constexpr auto OBJECT_DETECTION_STATUS_BITS = 0b11;
 enum class ObjectDetectionStatus : uint8_t {
     MOTION_NO_OBJECT = 0u,
     STOPPED_OPENING_DETECTED,
@@ -114,7 +114,7 @@ class ProtocolLogic{
      */
     void set() {
         communication_.clear_output_bytes();
-        communication_.write_action_bit((uint)ActionRequestPositionBit::ACTIVATE, (bool)Activate::ACTIVATE_GRIPPER);
+        communication_.write_action_bit(static_cast<uint>(ActionRequestPositionBit::ACTIVATE), static_cast<bool>(Activate::ACTIVATE_GRIPPER));
         communication_.read_write_registers();
     };
 
@@ -126,8 +126,10 @@ class ProtocolLogic{
      * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
      */
     void auto_release() {
-        communication_.write_action_bit((uint)ActionRequestPositionBit::AUTOMATIC_RELEASE, (bool)AutomaticRelease::EMERGENCY_AUTO_RELEASE);
-        communication_.write_action_bit((uint)ActionRequestPositionBit::AUTOMATIC_RELEASE_DIRECTION, (bool)AutoReleaseDirection::OPENING);
+        communication_.write_action_bit(
+            static_cast<uint>(ActionRequestPositionBit::AUTOMATIC_RELEASE), static_cast<bool>(AutomaticRelease::EMERGENCY_AUTO_RELEASE));
+        communication_.write_action_bit(
+            static_cast<uint>(ActionRequestPositionBit::AUTOMATIC_RELEASE_DIRECTION), static_cast<bool>(AutoReleaseDirection::OPENING));
         communication_.read_write_registers();
     };
 
@@ -153,7 +155,8 @@ class ProtocolLogic{
      * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
      */
     void go_to(uint8_t position, uint8_t velocity, uint8_t force) {
-        communication_.write_action_bit((uint)ActionRequestPositionBit::GO_TO, (bool)GoTo::GO_TO_REQ_POS);
+        communication_.write_action_bit(
+            static_cast<uint>(ActionRequestPositionBit::GO_TO), static_cast<bool>(GoTo::GO_TO_REQ_POS));
         communication_.set_output_byte(OutputBytes::POSITION_REQUEST, position);
         communication_.set_output_byte(OutputBytes::SPEED, velocity);
         communication_.set_output_byte(OutputBytes::FORCE, force);
@@ -167,7 +170,8 @@ class ProtocolLogic{
      * @note The status should be checked to verify successful execution. An exception is thrown if communication issues occur.
      */
     void stop() {
-        communication_.write_action_bit((uint)ActionRequestPositionBit::GO_TO, (bool)GoTo::STOP);
+        communication_.write_action_bit(
+            static_cast<uint>(ActionRequestPositionBit::GO_TO), static_cast<bool>(GoTo::STOP));
         communication_.read_write_registers();
     };
 

robotiq_hande_driver/src/communication.cpp

@@ -23,10 +23,9 @@ void Communication::connect(){
 
     result = modbus_read_registers(mb_, GRIPPER_OUTPUT_FIRST_REG, 1, activation_status);
 
-    if (result > 0) {
+    if (result > 0)
         printf("Connected successfully: %d\n", result);
-    } else {
+    else
         printf("Couldn't connect: %d\n", result);
-    }
 }
 }   // namespace hande_driver

robotiq_hande_driver/src/communication_test.cpp

@@ -59,7 +59,7 @@ void wait_activation_complete(modbus_t *ctx){
   while (activation_status[0] != GRIPPER_FLAGS_ACTIVATED){
     printf("Gripper not yet activated: %.4X vs. %.4X\n", activation_status[0], GRIPPER_FLAGS_ACTIVATED);
     modbus_read_registers(ctx, GRIPPER_OUTPUT_FIRST_REG, 1, activation_status);
-    
+
   }
 }
 

robotiq_hande_driver/src/protocol_logic.cpp

@@ -25,16 +25,16 @@ void ProtocolLogic::refresh_registers(){
     status_ = communication_.get_input_byte(InputBytes::GRIPPER_STATUS);
 
     activation_status_ = (ActivationStatus)(
-        (status_>>(uint)StatusPositionBit::ACTIVATION_STATUS) & kActivationStatusBits);
+        (status_>>static_cast<uint>(StatusPositionBit::ACTIVATION_STATUS)) & ACTIVATION_STATUS_BITS);
 
     action_status_ = (ActionStatus)(
-        (status_>>(uint)StatusPositionBit::ACTION_STATUS) & kActionStatusBits);
+        (status_>>static_cast<uint>(StatusPositionBit::ACTION_STATUS)) & ACTION_STATUS_BITS);
 
     gripper_status_ = (GripperStatus)(
-        (status_>>(uint)StatusPositionBit::GRIPPER_STATUS) & kGripperStatusBits);
+        (status_>>static_cast<uint>(StatusPositionBit::GRIPPER_STATUS)) & GRIPPER_STATUS_BITS);
 
     object_detection_status_ = (ObjectDetectionStatus)(
-        (status_>>(uint)StatusPositionBit::OBJECT_DETECTION_STATUS) & kObjectDetectionStatusBits);
+        (status_>>static_cast<uint>(StatusPositionBit::OBJECT_DETECTION_STATUS)) & OBJECT_DETECTION_STATUS_BITS);
 
     fault_status_ = communication_.get_input_byte(InputBytes::FAULT_STATUS);
     //To bo specified