refactor: Enhance code readability by improving formatting and consistency in Dynamixel hardware interface files

Author: Woojin-Crive

include/dynamixel_hardware_interface/dynamixel/dynamixel.hpp

@@ -295,13 +295,23 @@ class Dynamixel
     uint8_t item_size);
 
   // Helper function for value conversion with unit info
-  double ConvertValueWithUnitInfo(uint8_t id, std::string item_name, uint32_t raw_value, uint8_t size, bool is_signed);
+  double ConvertValueWithUnitInfo(
+    uint8_t id,
+    std::string item_name,
+    uint32_t raw_value,
+    uint8_t size,
+    bool is_signed);
 
   // Helper function for converting unit values to raw values
-  uint32_t ConvertUnitValueToRawValue(uint8_t id, std::string item_name, double unit_value, uint8_t size, bool is_signed);
+  uint32_t ConvertUnitValueToRawValue(
+    uint8_t id,
+    std::string item_name,
+    double unit_value,
+    uint8_t size,
+    bool is_signed);
 
   // Helper function for writing values to buffer
-  void WriteValueToBuffer(uint8_t* buffer, uint8_t offset, uint32_t value, uint8_t size);
+  void WriteValueToBuffer(uint8_t * buffer, uint8_t offset, uint32_t value, uint8_t size);
 };
 
 }  // namespace dynamixel_hardware_interface

include/dynamixel_hardware_interface/dynamixel/dynamixel_info.hpp

@@ -106,7 +106,6 @@ double DynamixelInfo::ConvertValueToUnit(uint8_t id, std::string data_name, T va
   if (it != dxl_info_[id].unit_map.end()) {
     return static_cast<double>(value) * it->second;
   }
-  // fprintf(stderr, "[WARN] No unit mapping found for '%s' in ID %d, returning raw value\n", data_name.c_str(), id);
   return static_cast<double>(value);
 }
 
@@ -117,7 +116,6 @@ T DynamixelInfo::ConvertUnitToValue(uint8_t id, std::string data_name, double un
   if (it != dxl_info_[id].unit_map.end()) {
     return static_cast<T>(unit_value / it->second);
   }
-  // fprintf(stderr, "[WARN] No unit mapping found for '%s' in ID %d, returning raw value\n", data_name.c_str(), id);
   return static_cast<T>(unit_value);
 }
 

include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp

@@ -51,43 +51,53 @@ namespace dynamixel_hardware_interface
 {
 
 // Hardware Error Status bit definitions
-struct HardwareErrorStatusBitInfo {
+struct HardwareErrorStatusBitInfo
+{
   int bit;
-  const char* label;
-  const char* description;
+  const char * label;
+  const char * description;
 };
 
 static constexpr HardwareErrorStatusBitInfo HardwareErrorStatusTable[] = {
   {0, "Input Voltage Error", "Detects that input voltage exceeds the configured operating voltage"},
   {1, "Motor Hall Sensor Error", "Detects that Motor hall sensor value exceeds normal range"},
-  {2, "Overheating Error", "Detects that internal temperature exceeds the configured operating temperature"},
+  {2, "Overheating Error",
+    "Detects that internal temperature exceeds the configured operating temperature"},
   {3, "Motor Encoder Error", "Detects malfunction of the motor encoder"},
-  {4, "Electrical Shock Error", "Detects electric shock on the circuit or insufficient power to operate the motor"},
+  {4,
+    "Electrical Shock Error",
+    "Detects electric shock on the circuit or insufficient power to operate the motor"},
   {5, "Overload Error", "Detects that persistent load exceeds maximum output"},
   {6, "Not used", "Always 0"},
   {7, "Not used", "Always 0"}
 };
 
-inline const HardwareErrorStatusBitInfo* get_hardware_error_status_bit_info(int bit) {
-  for (const auto& entry : HardwareErrorStatusTable) {
-    if (entry.bit == bit) return &entry;
+inline const HardwareErrorStatusBitInfo * get_hardware_error_status_bit_info(int bit)
+{
+  for (const auto & entry : HardwareErrorStatusTable) {
+    if (entry.bit == bit) {return &entry;}
   }
   return nullptr;
 }
 
 // Error Code (153) definitions
-struct ErrorCodeInfo {
+struct ErrorCodeInfo
+{
   int value;
-  const char* label;
-  const char* description;
+  const char * label;
+  const char * description;
 };
 
 static constexpr ErrorCodeInfo ErrorCodeTable[] = {
   {0x00, "No Error", "No error"},
   {0x01, "Over Voltage Error", "Device supply voltage exceeds the Max Voltage Limit(60)"},
   {0x02, "Low Voltage Error", "Device supply voltage exceeds the Min Voltage Limit(62)"},
-  {0x03, "Inverter Overheating Error", "The inverter temperature has exceeded the Inverter Temperature Limit(56)"},
-  {0x04, "Motor Overheating Error", "The motor temperature has exceeded the Motor Temperature Limit(57)"},
+  {0x03,
+    "Inverter Overheating Error",
+    "The inverter temperature has exceeded the Inverter Temperature Limit(56)"},
+  {0x04,
+    "Motor Overheating Error",
+    "The motor temperature has exceeded the Motor Temperature Limit(57)"},
   {0x05, "Overload Error", "Operating current exceeding rated current for an extended duration"},
   {0x07, "Inverter Error", "An issue has occurred with the inverter"},
   {0x09, "Battery Warning", "Low Multi-turn battery voltage. Replacement recommended"},
@@ -100,12 +110,16 @@ static constexpr ErrorCodeInfo ErrorCodeTable[] = {
   {0x11, "Following Error", "Position control error exceeds the Following Error Threshold(44)"},
   {0x12, "Bus Watchdog Error", "An issue has occurred with the Bus Watchdog"},
   {0x13, "Over Speed Error", "Rotates at a speed of 120% or more than the Velocity Limit(72)"},
-  {0x14, "Position Limit Reached Error", "In position control mode, the current position has moved beyond the Max/Min Position Limit + Position Limit Threshold(38) range."}
+  {0x14,
+    "Position Limit Reached Error",
+    "In position control mode, the current position has moved beyond the Max/Min Position Limit"
+    " + Position Limit Threshold(38) range."}
 };
 
-inline const ErrorCodeInfo* get_error_code_info(int value) {
-  for (const auto& entry : ErrorCodeTable) {
-    if (entry.value == value) return &entry;
+inline const ErrorCodeInfo * get_error_code_info(int value)
+{
+  for (const auto & entry : ErrorCodeTable) {
+    if (entry.value == value) {return &entry;}
   }
   return nullptr;
 }

src/dynamixel/dynamixel.cpp

@@ -1645,9 +1645,11 @@ DxlError Dynamixel::ProcessReadData(
     double unit_value;
     bool is_signed;
     if (dxl_info_.GetDxlUnitValue(ID, item_names[item_index], unit_value) &&
-        dxl_info_.GetDxlSignType(ID, item_names[item_index], is_signed)) {
+      dxl_info_.GetDxlSignType(ID, item_names[item_index], is_signed))
+    {
       // Use unit info and sign type to properly convert the value
-      *data_ptrs[item_index] = ConvertValueWithUnitInfo(ID, item_names[item_index], dxl_getdata, size, is_signed);
+      *data_ptrs[item_index] = ConvertValueWithUnitInfo(ID, item_names[item_index], dxl_getdata,
+          size, is_signed);
     } else {
       // Fallback to existing logic for compatibility
       if (item_names[item_index] == "Present Position") {
@@ -1681,9 +1683,11 @@ DxlError Dynamixel::ProcessDirectReadData(
     double unit_value;
     bool is_signed;
     if (dxl_info_.GetDxlUnitValue(ID, item_names[item_index], unit_value) &&
-        dxl_info_.GetDxlSignType(ID, item_names[item_index], is_signed)) {
+      dxl_info_.GetDxlSignType(ID, item_names[item_index], is_signed))
+    {
       // Use unit info and sign type to properly convert the value
-      *data_ptrs[item_index] = ConvertValueWithUnitInfo(ID, item_names[item_index], dxl_getdata, size, is_signed);
+      *data_ptrs[item_index] = ConvertValueWithUnitInfo(ID, item_names[item_index], dxl_getdata,
+          size, is_signed);
     } else {
       // Fallback to existing logic for compatibility
       if (item_names[item_index] == "Present Position") {
@@ -1852,15 +1856,17 @@ DxlError Dynamixel::SetDxlValueToSyncWrite()
       double unit_value;
       bool is_signed;
       if (dxl_info_.GetDxlUnitValue(ID, item_name, unit_value) &&
-          dxl_info_.GetDxlSignType(ID, item_name, is_signed)) {
+        dxl_info_.GetDxlSignType(ID, item_name, is_signed))
+      {
         // Use unit info and sign type to properly convert the value
         uint32_t raw_value = ConvertUnitValueToRawValue(ID, item_name, data, size, is_signed);
         WriteValueToBuffer(param_write_value, added_byte, raw_value, size);
       } else {
         // Fallback to existing logic for compatibility
         if (item_name == "Goal Position") {
           int32_t goal_position = dxl_info_.ConvertRadianToValue(ID, data);
-          WriteValueToBuffer(param_write_value, added_byte, static_cast<uint32_t>(goal_position), 4);
+          WriteValueToBuffer(param_write_value, added_byte, static_cast<uint32_t>(goal_position),
+              4);
         } else {
           WriteValueToBuffer(param_write_value, added_byte, static_cast<uint32_t>(data), size);
         }
@@ -1951,7 +1957,8 @@ DxlError Dynamixel::SetBulkWriteItemAndHandler()
     // Store direct write info
     direct_info_write_[it_write_data.comm_id].indirect_data_addr = min_addr;
     direct_info_write_[it_write_data.comm_id].size = total_size;
-    direct_info_write_[it_write_data.comm_id].cnt = static_cast<uint16_t>(it_write_data.item_name.size());
+    direct_info_write_[it_write_data.comm_id].cnt =
+      static_cast<uint16_t>(it_write_data.item_name.size());
     direct_info_write_[it_write_data.comm_id].item_name = it_write_data.item_name;
     direct_info_write_[it_write_data.comm_id].item_size = it_write_data.item_size;
 
@@ -2042,15 +2049,17 @@ DxlError Dynamixel::SetDxlValueToBulkWrite()
         double unit_value;
         bool is_signed;
         if (dxl_info_.GetDxlUnitValue(ID, item_name, unit_value) &&
-            dxl_info_.GetDxlSignType(ID, item_name, is_signed)) {
+          dxl_info_.GetDxlSignType(ID, item_name, is_signed))
+        {
           // Use unit info and sign type to properly convert the value
           uint32_t raw_value = ConvertUnitValueToRawValue(ID, item_name, data, size, is_signed);
           WriteValueToBuffer(param_write_value, added_byte, raw_value, size);
         } else {
           // Fallback to existing logic for compatibility
           if (item_name == "Goal Position") {
             int32_t goal_position = dxl_info_.ConvertRadianToValue(ID, data);
-            WriteValueToBuffer(param_write_value, added_byte, static_cast<uint32_t>(goal_position), 4);
+            WriteValueToBuffer(param_write_value, added_byte, static_cast<uint32_t>(goal_position),
+                4);
           } else {
             WriteValueToBuffer(param_write_value, added_byte, static_cast<uint32_t>(data), size);
           }
@@ -2081,15 +2090,17 @@ DxlError Dynamixel::SetDxlValueToBulkWrite()
         double unit_value;
         bool is_signed;
         if (dxl_info_.GetDxlUnitValue(ID, item_name, unit_value) &&
-            dxl_info_.GetDxlSignType(ID, item_name, is_signed)) {
+          dxl_info_.GetDxlSignType(ID, item_name, is_signed))
+        {
           // Use unit info and sign type to properly convert the value
           uint32_t raw_value = ConvertUnitValueToRawValue(ID, item_name, data, size, is_signed);
           WriteValueToBuffer(param_write_value, added_byte, raw_value, size);
         } else {
           // Fallback to existing logic for compatibility
           if (item_name == "Goal Position") {
             int32_t goal_position = dxl_info_.ConvertRadianToValue(ID, data);
-            WriteValueToBuffer(param_write_value, added_byte, static_cast<uint32_t>(goal_position), 4);
+            WriteValueToBuffer(param_write_value, added_byte, static_cast<uint32_t>(goal_position),
+                4);
           } else {
             WriteValueToBuffer(param_write_value, added_byte, static_cast<uint32_t>(data), size);
           }
@@ -2147,7 +2158,9 @@ DxlError Dynamixel::AddIndirectWrite(
   uint8_t using_size = indirect_info_write_[id].size;
 
   for (uint16_t i = 0; i < item_size; i++) {
-    if (WriteItem(id, static_cast<uint16_t>(INDIRECT_ADDR + (using_size * 2)), 2, item_addr + i) != DxlError::OK) {
+    if (WriteItem(id, static_cast<uint16_t>(INDIRECT_ADDR + (using_size * 2)), 2,
+        item_addr + i) != DxlError::OK)
+    {
       return DxlError::SET_BULK_WRITE_FAIL;
     }
     using_size++;
@@ -2173,7 +2186,9 @@ void Dynamixel::ResetDirectWrite(std::vector<uint8_t> id_arr)
   }
 }
 
-double Dynamixel::ConvertValueWithUnitInfo(uint8_t id, std::string item_name, uint32_t raw_value, uint8_t size, bool is_signed)
+double Dynamixel::ConvertValueWithUnitInfo(
+  uint8_t id, std::string item_name, uint32_t raw_value,
+  uint8_t size, bool is_signed)
 {
   if (size == 1) {
     if (is_signed) {
@@ -2203,11 +2218,13 @@ double Dynamixel::ConvertValueWithUnitInfo(uint8_t id, std::string item_name, ui
 
   // Throw error for unknown sizes
   std::string error_msg = "Unknown data size " + std::to_string(size) +
-                         " for item '" + item_name + "' in ID " + std::to_string(id);
+    " for item '" + item_name + "' in ID " + std::to_string(id);
   throw std::runtime_error(error_msg);
 }
 
-uint32_t Dynamixel::ConvertUnitValueToRawValue(uint8_t id, std::string item_name, double unit_value, uint8_t size, bool is_signed)
+uint32_t Dynamixel::ConvertUnitValueToRawValue(
+  uint8_t id, std::string item_name, double unit_value,
+  uint8_t size, bool is_signed)
 {
   if (size == 1) {
     if (is_signed) {
@@ -2237,11 +2254,11 @@ uint32_t Dynamixel::ConvertUnitValueToRawValue(uint8_t id, std::string item_name
 
   // Throw error for unknown sizes
   std::string error_msg = "Unknown data size " + std::to_string(size) +
-                         " for item '" + item_name + "' in ID " + std::to_string(id);
+    " for item '" + item_name + "' in ID " + std::to_string(id);
   throw std::runtime_error(error_msg);
 }
 
-void Dynamixel::WriteValueToBuffer(uint8_t* buffer, uint8_t offset, uint32_t value, uint8_t size)
+void Dynamixel::WriteValueToBuffer(uint8_t * buffer, uint8_t offset, uint32_t value, uint8_t size)
 {
   if (size == 1) {
     buffer[offset] = static_cast<uint8_t>(value);

src/dynamixel/dynamixel_info.cpp

@@ -132,7 +132,7 @@ void DynamixelInfo::ReadDxlModelFile(uint8_t id, uint16_t model_num)
   }
 
   if (unit_info_found) {
-    getline(open_file, line);  // Skip header line "Data Name	value	unit	Sign Type"
+    getline(open_file, line);  // Skip header line "Data Name value unit Sign Type"
     while (!open_file.eof() ) {
       getline(open_file, line);
       if (strcmp(line.c_str(), "[control table]") == 0) {
@@ -271,7 +271,6 @@ bool DynamixelInfo::GetDxlUnitValue(uint8_t id, std::string data_name, double &
     unit_value = it->second;
     return true;
   }
-  // fprintf(stderr, "[WARN] No unit mapping found for '%s' in ID %d\n", data_name.c_str(), id);
   return false;
 }
 
@@ -282,7 +281,6 @@ bool DynamixelInfo::GetDxlSignType(uint8_t id, std::string data_name, bool & is_
     is_signed = it->second;
     return true;
   }
-  // fprintf(stderr, "[WARN] No sign type mapping found for '%s' in ID %d\n", data_name.c_str(), id);
   return false;
 }
 
@@ -292,7 +290,6 @@ double DynamixelInfo::GetUnitMultiplier(uint8_t id, std::string data_name)
   if (it != dxl_info_[id].unit_map.end()) {
     return it->second;
   }
-  // fprintf(stderr, "[WARN] No unit mapping found for '%s' in ID %d, returning 1.0\n", data_name.c_str(), id);
   return 1.0;
 }