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Fix single line comment style #224

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Merged
at-wat merged 3 commits into from
Jun 27, 2025
Merged

Fix single line comment style #224

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63821e0
Fix single line comment style in headers
at-wat Jun 27, 2025
f0e2877
Fix single line comment style in c
at-wat Jun 27, 2025
5365540
Fix unintended changes
at-wat Jun 27, 2025
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20 changes: 10 additions & 10 deletions include/ypspur-md.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

Expand Down
22 changes: 11 additions & 11 deletions include/ypspur.h
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Expand Up @@ -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)
Expand Down Expand Up @@ -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);

Expand Down
10 changes: 5 additions & 5 deletions include/ypspur/command.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand All @@ -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);
Expand All @@ -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);
Expand All @@ -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);
Expand Down
32 changes: 16 additions & 16 deletions include/ypspur/msq.win32.h
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Expand Up @@ -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;
};
Expand Down
3 changes: 1 addition & 2 deletions include/ypspur/serial.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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);
Expand Down
12 changes: 4 additions & 8 deletions include/ypspur/ypparam.h
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Expand Up @@ -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,
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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,
Expand All @@ -493,7 +490,6 @@ typedef enum
YP_STATE_NUM
} YPSpur_state;

/** メッセージ関連 */
typedef enum
{
CS_BS = 0,
Expand Down
4 changes: 2 additions & 2 deletions include/ypspur/ypprotocol.h
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Expand Up @@ -29,7 +29,7 @@ extern "C"
{
#endif // __cplusplus

/** Structure of VV command */
/// Structure of VV command
typedef struct VERSION_INFO
{
char vender[128];
Expand All @@ -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];
Expand Down
10 changes: 5 additions & 5 deletions src/adinput.c
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Expand Up @@ -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
Expand All @@ -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;
Expand Down Expand Up @@ -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;

Expand Down Expand Up @@ -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;

Expand Down
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