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[style] indent using spaces(2) and convert indentation to spaces
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‎demo/csharp_studio/xarm/xarm_wrapper.cc

+522-521
Large diffs are not rendered by default.

‎demo/csharp_studio/xarm/xarm_wrapper.h

+178-178
Large diffs are not rendered by default.

‎example/0001-event_register.cc

+46-45
Original file line numberDiff line numberDiff line change
@@ -1,75 +1,76 @@
1-
/*
2-
# Software License Agreement (MIT License)
3-
#
4-
# Copyright (c) 2019, UFACTORY, Inc.
5-
# All rights reserved.
6-
#
7-
# Author: Vinman <[email protected]> <[email protected]>
8-
*/
1+
/**
2+
* Software License Agreement (MIT License)
3+
*
4+
* Copyright (c) 2022, UFACTORY, Inc.
5+
*
6+
* All rights reserved.
7+
*
8+
* @author Vinman <[email protected]> <[email protected]>
9+
*/
910

1011
#include "xarm/wrapper/xarm_api.h"
1112

1213
void report_location_callback(const fp32* pose, const fp32* angles) {
13-
print_nvect("pose = ", (fp32*)pose, 6);
14-
print_nvect("angles = ", (fp32*)angles, 7);
14+
print_nvect("pose = ", (fp32*)pose, 6);
15+
print_nvect("angles = ", (fp32*)angles, 7);
1516
}
1617

1718
void connect_changed_callback(bool connected, bool reported) {
18-
printf("connected: %d, reported: %d\n", connected, reported);
19+
printf("connected: %d, reported: %d\n", connected, reported);
1920
}
2021

2122
void state_changed_callback(int state) {
22-
printf("state: %d\n", state);
23+
printf("state: %d\n", state);
2324
}
2425

2526
void mode_changed_callback(int mode) {
26-
printf("mode: %d\n", mode);
27+
printf("mode: %d\n", mode);
2728
}
2829

2930
void mtable_mtbrake_changed_callback(int mtable, int mtbrake) {
30-
printf("mtable: %d, mtbrake: %d\n", mtable, mtbrake);
31+
printf("mtable: %d, mtbrake: %d\n", mtable, mtbrake);
3132
}
3233

3334
void error_warn_changed_callback(int err, int warn) {
34-
printf("err: %d, warn: %d\n", err, warn);
35+
printf("err: %d, warn: %d\n", err, warn);
3536
}
3637

3738
void cmdnum_changed_callback(int cmdnum) {
38-
printf("cmdnum: %d\n", cmdnum);
39+
printf("cmdnum: %d\n", cmdnum);
3940
}
4041

4142
int main(int argc, char **argv) {
42-
if (argc < 2) {
43-
printf("Please enter IP address\n");
44-
return 0;
45-
}
46-
std::string port(argv[1]);
47-
XArmAPI *arm = new XArmAPI(port, false, true, true, true, true, false, true, true, 0);
43+
if (argc < 2) {
44+
printf("Please enter IP address\n");
45+
return 0;
46+
}
47+
std::string port(argv[1]);
48+
XArmAPI *arm = new XArmAPI(port, false, true, true, true, true, false, true, true, 0);
4849

49-
printf("register events\n");
50-
arm->register_report_location_callback(report_location_callback);
51-
arm->register_connect_changed_callback(connect_changed_callback);
52-
arm->register_state_changed_callback(state_changed_callback);
53-
arm->register_mode_changed_callback(mode_changed_callback);
54-
arm->register_mtable_mtbrake_changed_callback(mtable_mtbrake_changed_callback);
55-
arm->register_error_warn_changed_callback(error_warn_changed_callback);
56-
arm->register_cmdnum_changed_callback(cmdnum_changed_callback);
50+
printf("register events\n");
51+
arm->register_report_location_callback(report_location_callback);
52+
arm->register_connect_changed_callback(connect_changed_callback);
53+
arm->register_state_changed_callback(state_changed_callback);
54+
arm->register_mode_changed_callback(mode_changed_callback);
55+
arm->register_mtable_mtbrake_changed_callback(mtable_mtbrake_changed_callback);
56+
arm->register_error_warn_changed_callback(error_warn_changed_callback);
57+
arm->register_cmdnum_changed_callback(cmdnum_changed_callback);
5758

58-
arm->connect();
59-
arm->motion_enable(true);
60-
arm->set_mode(0);
61-
arm->set_state(0);
62-
sleep_milliseconds(100000);
59+
arm->connect();
60+
arm->motion_enable(true);
61+
arm->set_mode(0);
62+
arm->set_state(0);
63+
sleep_milliseconds(100000);
6364

64-
printf("release events\n");
65-
arm->release_report_location_callback(report_location_callback);
66-
arm->release_connect_changed_callback(connect_changed_callback);
67-
arm->release_state_changed_callback(state_changed_callback);
68-
arm->release_mode_changed_callback(mode_changed_callback);
69-
arm->release_mtable_mtbrake_changed_callback(mtable_mtbrake_changed_callback);
70-
arm->release_error_warn_changed_callback(error_warn_changed_callback);
71-
arm->release_cmdnum_changed_callback(cmdnum_changed_callback);
65+
printf("release events\n");
66+
arm->release_report_location_callback(report_location_callback);
67+
arm->release_connect_changed_callback(connect_changed_callback);
68+
arm->release_state_changed_callback(state_changed_callback);
69+
arm->release_mode_changed_callback(mode_changed_callback);
70+
arm->release_mtable_mtbrake_changed_callback(mtable_mtbrake_changed_callback);
71+
arm->release_error_warn_changed_callback(error_warn_changed_callback);
72+
arm->release_cmdnum_changed_callback(cmdnum_changed_callback);
7273

73-
// sleep_milliseconds(30000);
74-
return 0;
74+
// sleep_milliseconds(30000);
75+
return 0;
7576
}

‎example/0002-get_property.cc

+45-44
Original file line numberDiff line numberDiff line change
@@ -1,53 +1,54 @@
1-
/*
2-
# Software License Agreement (MIT License)
3-
#
4-
# Copyright (c) 2019, UFACTORY, Inc.
5-
# All rights reserved.
6-
#
7-
# Author: Vinman <[email protected]> <[email protected]>
8-
*/
1+
/**
2+
* Software License Agreement (MIT License)
3+
*
4+
* Copyright (c) 2022, UFACTORY, Inc.
5+
*
6+
* All rights reserved.
7+
*
8+
* @author Vinman <[email protected]> <[email protected]>
9+
*/
910

1011
#include "xarm/wrapper/xarm_api.h"
1112

1213
int main(int argc, char **argv) {
13-
if (argc < 2) {
14-
printf("Please enter IP address\n");
15-
return 0;
16-
}
17-
std::string port(argv[1]);
14+
if (argc < 2) {
15+
printf("Please enter IP address\n");
16+
return 0;
17+
}
18+
std::string port(argv[1]);
1819

19-
XArmAPI *arm = new XArmAPI(port);
20-
arm->motion_enable(true);
21-
arm->set_mode(0);
22-
arm->set_state(0);
23-
sleep_milliseconds(1000);
20+
XArmAPI *arm = new XArmAPI(port);
21+
arm->motion_enable(true);
22+
arm->set_mode(0);
23+
arm->set_state(0);
24+
sleep_milliseconds(1000);
2425

25-
printf("=========================================\n");
26-
printf("default_is_radian: %d\n", arm->default_is_radian);
27-
printf("version: %s\n", arm->version);
28-
printf("state: %d\n", arm->state);
29-
printf("mode: %d\n", arm->mode);
30-
printf("cmd_num: %d\n", arm->cmd_num);
31-
printf("error_code: %d\n", arm->error_code);
32-
printf("warn_code: %d\n", arm->warn_code);
33-
printf("collision_sensitivity: %d\n", arm->collision_sensitivity);
34-
printf("teach_sensitivity: %d\n", arm->teach_sensitivity);
35-
print_nvect("world_offset: ", arm->world_offset, 6);
36-
print_nvect("gravity_direction: ", arm->gravity_direction, 3);
26+
printf("=========================================\n");
27+
printf("default_is_radian: %d\n", arm->default_is_radian);
28+
printf("version: %s\n", arm->version);
29+
printf("state: %d\n", arm->state);
30+
printf("mode: %d\n", arm->mode);
31+
printf("cmd_num: %d\n", arm->cmd_num);
32+
printf("error_code: %d\n", arm->error_code);
33+
printf("warn_code: %d\n", arm->warn_code);
34+
printf("collision_sensitivity: %d\n", arm->collision_sensitivity);
35+
printf("teach_sensitivity: %d\n", arm->teach_sensitivity);
36+
print_nvect("world_offset: ", arm->world_offset, 6);
37+
print_nvect("gravity_direction: ", arm->gravity_direction, 3);
3738

38-
printf("==========TCP==============\n");
39-
print_nvect("* position: ", arm->position, 6);
40-
printf("* tcp_jerk: %f\n", arm->tcp_jerk);
41-
print_nvect("* tcp_load: ", arm->tcp_load, 4);
42-
print_nvect("* tcp_offset: ", arm->tcp_offset, 6);
43-
print_nvect("* tcp_speed_limit:", arm->tcp_speed_limit, 2);
44-
print_nvect("* tcp_acc_limit:", arm->tcp_acc_limit, 2);
39+
printf("==========TCP==============\n");
40+
print_nvect("* position: ", arm->position, 6);
41+
printf("* tcp_jerk: %f\n", arm->tcp_jerk);
42+
print_nvect("* tcp_load: ", arm->tcp_load, 4);
43+
print_nvect("* tcp_offset: ", arm->tcp_offset, 6);
44+
print_nvect("* tcp_speed_limit:", arm->tcp_speed_limit, 2);
45+
print_nvect("* tcp_acc_limit:", arm->tcp_acc_limit, 2);
4546

46-
printf("============JOINT==============\n");
47-
print_nvect("* angles: ", arm->angles, 7);
48-
printf("* joint_jerk: %f\n", arm->joint_jerk);
49-
print_nvect("* joint_speed_limit:", arm->joint_speed_limit, 2);
50-
print_nvect("* joint_acc_limit:", arm->joint_acc_limit, 2);
51-
print_nvect("* joints_torque:", arm->joints_torque, 7);
52-
return 0;
47+
printf("============JOINT==============\n");
48+
print_nvect("* angles: ", arm->angles, 7);
49+
printf("* joint_jerk: %f\n", arm->joint_jerk);
50+
print_nvect("* joint_speed_limit:", arm->joint_speed_limit, 2);
51+
print_nvect("* joint_acc_limit:", arm->joint_acc_limit, 2);
52+
print_nvect("* joints_torque:", arm->joints_torque, 7);
53+
return 0;
5354
}

‎example/0003-api_get.cc

+42-41
Original file line numberDiff line numberDiff line change
@@ -1,56 +1,57 @@
1-
/*
2-
# Software License Agreement (MIT License)
3-
#
4-
# Copyright (c) 2019, UFACTORY, Inc.
5-
# All rights reserved.
6-
#
7-
# Author: Vinman <[email protected]> <[email protected]>
8-
*/
1+
/**
2+
* Software License Agreement (MIT License)
3+
*
4+
* Copyright (c) 2022, UFACTORY, Inc.
5+
*
6+
* All rights reserved.
7+
*
8+
* @author Vinman <[email protected]> <[email protected]>
9+
*/
910

1011
#include "xarm/wrapper/xarm_api.h"
1112

1213
int main(int argc, char **argv) {
13-
if (argc < 2) {
14-
printf("Please enter IP address\n");
15-
return 0;
16-
}
17-
std::string port(argv[1]);
14+
if (argc < 2) {
15+
printf("Please enter IP address\n");
16+
return 0;
17+
}
18+
std::string port(argv[1]);
1819

19-
XArmAPI *arm = new XArmAPI(port);
20+
XArmAPI *arm = new XArmAPI(port);
2021

21-
arm->motion_enable(true);
22-
arm->set_mode(0);
23-
arm->set_state(0);
24-
sleep_milliseconds(1000);
22+
arm->motion_enable(true);
23+
arm->set_mode(0);
24+
arm->set_state(0);
25+
sleep_milliseconds(1000);
2526

26-
printf("=========================================\n");
27+
printf("=========================================\n");
2728

28-
int ret;
29-
unsigned char version[40];
30-
ret = arm->get_version(version);
31-
printf("ret=%d, version: %s\n", ret, version);
29+
int ret;
30+
unsigned char version[40];
31+
ret = arm->get_version(version);
32+
printf("ret=%d, version: %s\n", ret, version);
3233

33-
int state;
34-
ret = arm->get_state(&state);
35-
printf("ret=%d, state: %d, mode: %d\n", ret, state, arm->mode);
34+
int state;
35+
ret = arm->get_state(&state);
36+
printf("ret=%d, state: %d, mode: %d\n", ret, state, arm->mode);
3637

37-
int cmdnum;
38-
ret = arm->get_cmdnum(&cmdnum);
39-
printf("ret=%d, cmdnum: %d\n", ret, cmdnum);
38+
int cmdnum;
39+
ret = arm->get_cmdnum(&cmdnum);
40+
printf("ret=%d, cmdnum: %d\n", ret, cmdnum);
4041

41-
int err_warn[2];
42-
ret = arm->get_err_warn_code(err_warn);
43-
printf("ret=%d, err: %d, warn: %d\n", ret, err_warn[0], err_warn[1]);
42+
int err_warn[2];
43+
ret = arm->get_err_warn_code(err_warn);
44+
printf("ret=%d, err: %d, warn: %d\n", ret, err_warn[0], err_warn[1]);
4445

45-
fp32 pose[6];
46-
ret = arm->get_position(pose);
47-
printf("ret=%d, ", ret);
48-
print_nvect("pose: ", pose, 6);
46+
fp32 pose[6];
47+
ret = arm->get_position(pose);
48+
printf("ret=%d, ", ret);
49+
print_nvect("pose: ", pose, 6);
4950

50-
fp32 angles[7];
51-
ret = arm->get_servo_angle(angles);
52-
printf("ret=%d, ", ret);
53-
print_nvect("angles: ", angles, 7);
51+
fp32 angles[7];
52+
ret = arm->get_servo_angle(angles);
53+
printf("ret=%d, ", ret);
54+
print_nvect("angles: ", angles, 7);
5455

55-
return 0;
56+
return 0;
5657
}

‎example/0004-servo_attach_detach.cc

+30-29
Original file line numberDiff line numberDiff line change
@@ -1,40 +1,41 @@
1-
/*
2-
# Software License Agreement (MIT License)
3-
#
4-
# Copyright (c) 2019, UFACTORY, Inc.
5-
# All rights reserved.
6-
#
7-
# Author: Vinman <[email protected]> <[email protected]>
8-
*/
1+
/**
2+
* Software License Agreement (MIT License)
3+
*
4+
* Copyright (c) 2022, UFACTORY, Inc.
5+
*
6+
* All rights reserved.
7+
*
8+
* @author Vinman <[email protected]> <[email protected]>
9+
*/
910

1011
#include "xarm/wrapper/xarm_api.h"
1112

1213
int main(int argc, char **argv) {
13-
if (argc < 2) {
14-
printf("Please enter IP address\n");
15-
return 0;
16-
}
17-
std::string port(argv[1]);
14+
if (argc < 2) {
15+
printf("Please enter IP address\n");
16+
return 0;
17+
}
18+
std::string port(argv[1]);
1819

19-
XArmAPI *arm = new XArmAPI(port);
20-
sleep_milliseconds(500);
21-
if (arm->error_code != 0) arm->clean_error();
22-
if (arm->warn_code != 0) arm->clean_warn();
23-
arm->motion_enable(true);
24-
arm->set_mode(0);
25-
arm->set_state(0);
26-
sleep_milliseconds(500);
20+
XArmAPI *arm = new XArmAPI(port);
21+
sleep_milliseconds(500);
22+
if (arm->error_code != 0) arm->clean_error();
23+
if (arm->warn_code != 0) arm->clean_warn();
24+
arm->motion_enable(true);
25+
arm->set_mode(0);
26+
arm->set_state(0);
27+
sleep_milliseconds(500);
2728

28-
printf("=========================================\n");
29+
printf("=========================================\n");
2930

30-
int ret;
31-
ret = arm->set_servo_detach(1);
32-
printf("set_servo_detach, ret=%d\n", ret);
31+
int ret;
32+
ret = arm->set_servo_detach(1);
33+
printf("set_servo_detach, ret=%d\n", ret);
3334

34-
sleep_milliseconds(1000 * 10);
35+
sleep_milliseconds(1000 * 10);
3536

36-
ret = arm->set_servo_attach(1);
37-
printf("set_servo_attach, ret=%d\n", ret);
37+
ret = arm->set_servo_attach(1);
38+
printf("set_servo_attach, ret=%d\n", ret);
3839

39-
return 0;
40+
return 0;
4041
}

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