Fix single line comment style (#224)

Author: at-wat

include/ypspur-md.h

@@ -121,53 +121,53 @@ typedef struct
   int connection_error;
 } YPSpur;
 
-/** init */
+// init
 int YPSpur_md_init(YPSpur* dev);
 int YPSpur_md_initex(YPSpur* dev, int msq_key);
 int YPSpur_md_init_socket(YPSpur* dev, char* ip, int port);
 
-/** freeze */
+// freeze
 int YPSpur_md_isfreeze(YPSpur* dev);
 int YPSpur_md_freeze(YPSpur* dev);
 int YPSpur_md_unfreeze(YPSpur* dev);
 
-/** motor servo */
+// motor servo
 int YPSpur_md_stop(YPSpur* dev);
 int YPSpur_md_free(YPSpur* dev);
 int YP_md_openfree(YPSpur* dev);
 
-/** Spur_md */
+// Spur_md
 int YPSpur_md_line(YPSpur* dev, int cs, double x, double y, double theta);
 int YPSpur_md_stop_line(YPSpur* dev, int cs, double x, double y, double theta);
 int YPSpur_md_circle(YPSpur* dev, int cs, double x, double y, double r);
 int YPSpur_md_spin(YPSpur* dev, int cs, double theta);
 int YPSpur_md_orient(YPSpur* dev, int cs, double theta);
 
-/** setter */
+// setter
 int YPSpur_md_set_pos(YPSpur* dev, int cs, double x, double y, double theta);
 int YPSpur_md_adjust_pos(YPSpur* dev, int cs, double x, double y, double theta);
 int YPSpur_md_set_vel(YPSpur* dev, double v);
 int YPSpur_md_set_angvel(YPSpur* dev, double w);
 int YPSpur_md_set_accel(YPSpur* dev, double v);
 int YPSpur_md_set_angaccel(YPSpur* dev, double w);
 
-/** getter */
+// getter
 double YPSpur_md_get_pos(YPSpur* dev, int cs, double* x, double* y, double* theta);
 double YPSpur_md_get_vel(YPSpur* dev, double* v, double* w);
 double YPSpur_md_get_force(YPSpur* dev, double* trans, double* angular);
 
-/** check position */
+// check position
 int YPSpur_md_near_pos(YPSpur* dev, int cs, double x, double y, double r);
 int YPSpur_md_near_ang(YPSpur* dev, int cs, double th, double d);
 int YPSpur_md_over_line(YPSpur* dev, int cs, double x, double y, double theta);
 
-/** direct */
+// direct
 int YPSpur_md_vel(YPSpur* dev, double v, double w);
 
-/** tilt */
+// tilt
 int YPSpur_md_tilt(YPSpur* dev, int cs, double dir, double tilt);
 
-/* 裏コマンド集 */
+// 裏コマンド集
 int YP_md_get_error_state(YPSpur* dev);
 void YP_md_request_device_dump(YPSpur* dev, int id, int block);
 

include/ypspur.h

@@ -28,7 +28,7 @@ extern "C"
 {
 #endif  // __cplusplus
 
-/* YPSpurコマンド集 */
+// YPSpurコマンド集
 #define Spur_init() YPSpur_init()
 #define Spur_initex(msq) YPSpur_initex(msq)
 #define Spur_init_socket(ip, port) YPSpur_init_socket(ip, port)
@@ -115,53 +115,53 @@ extern "C"
 #define Spur_tilt_BS(d, t) YPSpur_tilt(CS_BS, d, t)
 #define Spur_tilt_BL(d, t) YPSpur_tilt(CS_BL, d, t)
 
-/** init */
+// init
 int YPSpur_init(void);
 int YPSpur_initex(int msq_key);
 int YPSpur_init_socket(char* ip, int port);
 
-/** freeze */
+// freeze
 int YPSpur_isfreeze(void);
 int YPSpur_freeze(void);
 int YPSpur_unfreeze(void);
 
-/** motor servo */
+// motor servo
 int YPSpur_stop(void);
 int YPSpur_free(void);
 int YP_openfree(void);
 
-/** spur */
+// spur
 int YPSpur_line(int cs, double x, double y, double theta);
 int YPSpur_stop_line(int cs, double x, double y, double theta);
 int YPSpur_circle(int cs, double x, double y, double r);
 int YPSpur_spin(int cs, double theta);
 int YPSpur_orient(int cs, double theta);
 
-/** setter */
+// setter
 int YPSpur_set_pos(int cs, double x, double y, double theta);
 int YPSpur_adjust_pos(int cs, double x, double y, double theta);
 int YPSpur_set_vel(double v);
 int YPSpur_set_angvel(double w);
 int YPSpur_set_accel(double v);
 int YPSpur_set_angaccel(double w);
 
-/** getter */
+// getter
 double YPSpur_get_pos(int cs, double* x, double* y, double* theta);
 double YPSpur_get_vel(double* v, double* w);
 double YPSpur_get_force(double* trans, double* angular);
 
-/** check position */
+// check position
 int YPSpur_near_pos(int cs, double x, double y, double r);
 int YPSpur_near_ang(int cs, double th, double d);
 int YPSpur_over_line(int cs, double x, double y, double theta);
 
-/** direct */
+// direct
 int YPSpur_vel(double v, double w);
 
-/** tilt */
+// tilt
 int YPSpur_tilt(int cs, double dir, double tilt);
 
-/* 裏コマンド集 */
+// 裏コマンド集
 int YP_get_error_state(void);
 void YP_request_device_dump(int id, int block);
 

include/ypspur/command.h

@@ -97,7 +97,7 @@ void message_return(struct ipcmd_t* ipcmd, long retpid, YPSpur_msg* res_msg);
 void init_command_thread(pthread_t* thread);
 SpurUserParamsPtr get_spur_user_param_ptr();
 
-/* command_run.c */
+// command_run.c
 void line_com(int cs, double* data, SpurUserParamsPtr spur);
 void stop_line_com(int cs, double* data, SpurUserParamsPtr spur);
 void circle_com(int cs, double* data, SpurUserParamsPtr spur);
@@ -110,7 +110,7 @@ void vel_com(double* data, SpurUserParamsPtr spur);
 void wheel_vel_com(double* data, SpurUserParamsPtr spur);
 void wheel_angle_com(double* data, SpurUserParamsPtr spur);
 
-/* command_set.c */
+// command_set.c
 void set_pos_com(int cs, double* data, SpurUserParamsPtr spur);
 void set_GL_on_GL_com(double* data, SpurUserParamsPtr spur);
 void set_adjust_com(int cs, double* data, SpurUserParamsPtr spur);
@@ -123,7 +123,7 @@ void set_torque_com(double* data, SpurUserParamsPtr spur);
 void set_wheel_vel_com(double* data, SpurUserParamsPtr spur);
 void set_wheel_accel_com(double* data, SpurUserParamsPtr spur);
 
-/* command_get.c */
+// command_get.c
 void get_pos_com(int cs, double* data, double* resdata, SpurUserParamsPtr spur);
 void get_vel_com(int cs, double* data, double* resdata, SpurUserParamsPtr spur);
 void get_vref_com(int cs, double* data, double* resdata, SpurUserParamsPtr spur);
@@ -136,12 +136,12 @@ void get_wheel_ang_com(double* data, double* resdata, SpurUserParamsPtr spur);
 void get_force_com(int cs, double* data, double* resdata, SpurUserParamsPtr spur);
 void get_wheel_torque_com(int cs, double* data, double* resdata, SpurUserParamsPtr spur);
 
-/* command_param.c */
+// command_param.c
 void param_set_com(int cs, double* data, SpurUserParamsPtr spur);
 int param_get_com(int cs, double* resdata, SpurUserParamsPtr spur);
 void param_state_com(int cs, double* data, SpurUserParamsPtr spur);
 
-/* command_ad.c */
+// command_ad.c
 void get_ad_com(double* data, double* resdata);
 void set_io_dir_com(double* data, double* resdata);
 void set_io_data_com(double* data, double* resdata);

include/ypspur/msq.win32.h

@@ -65,32 +65,32 @@ typedef unsigned long int msglen_t;
 
 struct ipc_perm
 {
-  key_t __key;             /* Key.  */
-  uid_t uid;               /* Owner's user ID.  */
-  gid_t gid;               /* Owner's group ID.  */
-  uid_t cuid;              /* Creator's user ID.  */
-  gid_t cgid;              /* Creator's group ID.  */
-  unsigned short int mode; /* Read/write permission.  */
+  key_t __key;              // Key.
+  uid_t uid;                // Owner's user ID.
+  gid_t gid;                // Owner's group ID.
+  uid_t cuid;               // Creator's user ID.
+  gid_t cgid;               // Creator's group ID.
+  unsigned short int mode;  // Read/write permission.
   unsigned short int __pad1;
-  unsigned short int __seq; /* Sequence number.  */
+  unsigned short int __seq;  // Sequence number.
   unsigned short int __pad2;
   unsigned long int __unused1;
   unsigned long int __unused2;
 };
 struct msqid_ds
 {
-  struct ipc_perm msg_perm; /* structure describing operation permission */
-  time_t msg_stime;         /* time of last msgsnd command */
+  struct ipc_perm msg_perm;  // structure describing operation permission
+  time_t msg_stime;          // time of last msgsnd command
   unsigned long int __unused1;
-  time_t msg_rtime; /* time of last msgrcv command */
+  time_t msg_rtime;  // time of last msgrcv command
   unsigned long int __unused2;
-  time_t msg_ctime; /* time of last change */
+  time_t msg_ctime;  // time of last change
   unsigned long int __unused3;
-  unsigned long int __msg_cbytes; /* current number of bytes on queue */
-  msgqnum_t msg_qnum;             /* number of messages currently on queue */
-  msglen_t msg_qbytes;            /* max number of bytes allowed on queue */
-  pid_t msg_lspid;                /* pid of last msgsnd() */
-  pid_t msg_lrpid;                /* pid of last msgrcv() */
+  unsigned long int __msg_cbytes;  // current number of bytes on queue
+  msgqnum_t msg_qnum;              // number of messages currently on queue
+  msglen_t msg_qbytes;             // max number of bytes allowed on queue
+  pid_t msg_lspid;                 // pid of last msgsnd()
+  pid_t msg_lrpid;                 // pid of last msgrcv()
   unsigned long int __unused4;
   unsigned long int __unused5;
 };

include/ypspur/serial.h

@@ -26,7 +26,7 @@
 
 #define DEFAULT_BAUDRATE 38400
 
-/* for measurement time estimation */
+// for measurement time estimation
 extern double SER_BAUDRATE;  /// (Byte/sec) シリアルの通信速度
 #define SER_INTERVAL 0.0050
 // #define SER_BYTES 13.0
@@ -36,7 +36,6 @@ int serial_tryconnect(char* device_name);
 int serial_connect(char* device_name);
 int serial_change_baudrate(int baud);
 
-/*----------------PBS_close------------------*/
 int serial_close(void);
 int serial_write(char* buf, int len);
 int serial_recieve(int (*serial_event)(char*, int, double, void*), void* data);

include/ypspur/ypparam.h

@@ -42,7 +42,7 @@ typedef int pid_t;
 
 #endif  // defined(_WIN32)
 
-/* コマンドナンバー */
+// コマンドナンバー
 enum
 {
   YPSPUR_FREE = 0x10,
@@ -113,9 +113,8 @@ enum
   YPSPUR_GET_JOINT_TORQUE,
 };
 
-/* パラメータナンバー */
-/* set_parameter用 */
-/* マイコンに送る情報は反映されない */
+// パラメータナンバー
+// set_parameter用でマイコンに送る値とは異なる
 typedef enum
 {
   // システム
@@ -221,7 +220,7 @@ typedef enum
   YP_PARAM_MAX_TIME_JUMP,
   YP_PARAM_MAX_TIME_JUMP_NEG,
 
-  YP_PARAM_NUM  ///< パラメータの最大値
+  YP_PARAM_NUM  /// パラメータの最大値
 } YPSpur_param;
 
 // 自分で指定しない（できない）パラメータは最初の文字が'_'で始まっている
@@ -480,8 +479,6 @@ enum motor_id
 #define YP_PARAM_REQUIRED_VERSION 4.0
 #define YP_PARAM_SUPPORTED_VERSION 5.0
 
-/* パラメータの有効・無効 */
-/* control_state用　　 */
 typedef enum
 {
   YP_STATE_MOTOR = 0,
@@ -493,7 +490,6 @@ typedef enum
   YP_STATE_NUM
 } YPSpur_state;
 
-/** メッセージ関連 */
 typedef enum
 {
   CS_BS = 0,

include/ypspur/ypprotocol.h

@@ -29,7 +29,7 @@ extern "C"
 {
 #endif  // __cplusplus
 
-/** Structure of VV command */
+/// Structure of VV command
 typedef struct VERSION_INFO
 {
   char vender[128];
@@ -39,7 +39,7 @@ typedef struct VERSION_INFO
   char serialno[128];
 } Ver_t;
 
-/** Structure of PP command */
+/// Structure of PP command
 typedef struct PARAMETER_INFO
 {
   char pwm_resolution[128];

src/adinput.c

@@ -30,12 +30,12 @@
 #include <sys/types.h>
 #include <time.h>
 
-/* yp-spur用 */
+// yp-spur用
 #include <ypspur/odometry.h>
 #include <ypspur/serial.h>
 #include <ypspur/utility.h>
 
-/* ライブラリ用 */
+// ライブラリ用
 #include <ypspur.h>
 
 int ad[16];       // ad値保存用バッファ
@@ -60,7 +60,7 @@ int process_addata(unsigned char* buf, int len)
   return ad_num;
 }
 
-/* read ad data func for ssm write */
+// read ad data func for ssm write
 const int* get_addataptr()
 {
   return ad;
@@ -98,7 +98,7 @@ int admask_receive(char* buf, int len, double receive_time, void* data)
 
 int set_admask(unsigned char mask)
 {
-  /* Send & Recive Buffer */
+  // Send & Recive Buffer
   char buf[2048];
   int i;
 
@@ -132,7 +132,7 @@ int set_admask(unsigned char mask)
 
 int set_diomask(unsigned char enable)
 {
-  /* Send & Recive Buffer */
+  // Send & Recive Buffer
   char buf[2048];
   dio_num = 0;