CHG: move write action bit to communication file

Author: slimasziom

robotiq_hande_driver/include/communication.hpp

@@ -97,6 +97,25 @@ class Communication{
     // uint16_t input_registers_[kRegisterWordLength];
     // uint16_t output_registers_[kRegisterWordLength];
 
+    /**
+     * @brief Set n-th bit to action request byte
+     *
+     * @param position_bit n-th bit in byte
+     * @param value bool value
+     * @return none
+     */
+    void write_action_bit(uint8_t position_bit, bool value);
+
+    /**
+     * @brief Set n-th bit to x value
+     *
+     * @param number
+     * @param n n-th bit in number
+     * @param x bool value
+     * @return uint number with n-th bit set to x
+     */
+    uint bit_set_to(uint number, uint n, bool x);
+
 private:
     modbus_t *mb_;
 

robotiq_hande_driver/include/protocol_logic.hpp

@@ -231,25 +231,6 @@ class ProtocolLogic{
      */
     void refresh_registers();
 
-    /**
-     * @brief Set n-th bit to action request byte
-     *
-     * @param position_bit n-th bit in byte
-     * @param value bool value
-     * @return none
-     */
-    void write_action_bit(uint8_t position_bit, bool value);
-
-    /**
-     * @brief Set n-th bit to x value
-     *
-     * @param number
-     * @param n n-th bit in number
-     * @param x bool value
-     * @return uint number with n-th bit set to x
-     */
-    uint bit_set_to(uint number, uint n, bool x);
-
 private:
 // Gripper
     uint8_t status_;

robotiq_hande_driver/src/communication.cpp

@@ -69,4 +69,13 @@ uint8_t Communication::get_input_byte(InputBytes index){
 void Communication::set_output_byte(OutputBytes index, uint8_t value){
     output_bytes_[index] = value;
 }
+
+void Communication::write_action_bit(uint8_t position_bit, bool value){
+    output_bytes_[OUTPUT_BYTES_ACTION_REQUEST] = bit_set_to(
+        output_bytes_[OUTPUT_BYTES_ACTION_REQUEST], 8 + position_bit, value);
+}
+
+inline uint Communication::bit_set_to(uint number, uint n, bool x) {
+    return (number & ~((uint)1 << n)) | ((uint)x << n);
+}
 }   // namespace hande_driver

robotiq_hande_driver/src/protocol_logic.cpp

@@ -29,22 +29,22 @@ ProtocolLogic::~ProtocolLogic(){
 void ProtocolLogic::reset(){
     communication_.clear_output_bytes();
 
-    write_action_bit(kActivatePositionByte, DEACTIVATE_GRIPPER);
+    communication_.write_action_bit(kActivatePositionByte, DEACTIVATE_GRIPPER);
 
     communication_.read_write_registers();
 }
 
 void ProtocolLogic::set(){
     communication_.clear_output_bytes();
 
-    write_action_bit(kActivatePositionByte, ACTIVATE_GRIPPER);
+    communication_.write_action_bit(kActivatePositionByte, ACTIVATE_GRIPPER);
 
     communication_.read_write_registers();
 }
 
 void ProtocolLogic::auto_release(){
-    write_action_bit(kAutomaticReleasePositionByte, EMERGENCY_AUTO_RELEASE);
-    write_action_bit(kAutoReleaseDirectionPositionByte, OPENING);
+    communication_.write_action_bit(kAutomaticReleasePositionByte, EMERGENCY_AUTO_RELEASE);
+    communication_.write_action_bit(kAutoReleaseDirectionPositionByte, OPENING);
 
     communication_.read_write_registers();
 }
@@ -55,7 +55,7 @@ void ProtocolLogic::activate(){
 }
 
 void ProtocolLogic::go_to(uint8_t position, uint8_t velocity, uint8_t force){
-    write_action_bit(kGoToPositionByte, GO_TO_REQ_POS);
+    communication_.write_action_bit(kGoToPositionByte, GO_TO_REQ_POS);
 
     communication_.set_output_byte(OUTPUT_BYTES_POSITION_REQUEST, position);
     communication_.set_output_byte(OUTPUT_BYTES_SPEED, velocity);
@@ -65,7 +65,7 @@ void ProtocolLogic::go_to(uint8_t position, uint8_t velocity, uint8_t force){
 }
 
 void ProtocolLogic::stop(){
-    write_action_bit(kGoToPositionByte, STOP);
+    communication_.write_action_bit(kGoToPositionByte, STOP);
 
     communication_.read_write_registers();
 }
@@ -91,7 +91,6 @@ bool ProtocolLogic::is_stopped(){
 
 bool ProtocolLogic::is_closed(){
     return position_ >= kGripperPositionOpenedThreshold;
-    
 }
 
 bool ProtocolLogic::is_opened(){
@@ -132,15 +131,4 @@ void ProtocolLogic::refresh_registers(){
     position_ = communication_.get_input_byte(INPUT_BYTES_POSITION);
     current_ = communication_.get_input_byte(INPUT_BYTES_CURRENT);
 }
-
-void ProtocolLogic::write_action_bit(uint8_t position_bit, bool value){
-    // TODO: change byte from uint to &uint
-    // byte = bit_set_to(byte, position, value)
-    communication_.output_registers_[0] = bit_set_to(
-        communication_.output_registers_[0], 8 + position_bit, value);
-}
-
-inline uint ProtocolLogic::bit_set_to(uint number, uint n, bool x) {
-    return (number & ~((uint)1 << n)) | ((uint)x << n);
-}
 }   // namespace hande_driver