De-linting for Arm_Control_System Branch

.gitignore

@@ -9,6 +9,7 @@ devel/
 /.vscode/*
 # except recommended extensions
 !/.vscode/extensions.json
+!/.vscode/settings.json
 
 # fetched external libs
 # NOTE: these may be removed in the future, tbd

.vscode/settings.json

@@ -0,0 +1,14 @@
+{
+    "clang-tidy.checks": [
+        "bugprone-*",
+        "performance-*",
+        "readability-*",
+        "modernize-*",
+        "hicpp-*",
+        "cppcoreguidelines-*",
+        "clang-analyzer-*",
+        "-readability-braces-around-statements",
+        "-hicpp-braces-around-statements",
+        "-cppcoreguidelines-non-private-member-variables-in-classes"
+    ]
+}

project.json

@@ -34,6 +34,13 @@
         "package": "ros-noetic-moveit",
         "provider": "apt"
       }
+    },
+    {
+      "name": "moveit-visual-tools",
+      "build": {
+        "package": "ros-noetic-moveit-visual-tools",
+        "provider": "apt"
+      }
     }
   ]
 }

src/wr_control_drive_arm/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(wr_control_drive_arm)
 
 ## Compile as C++11, supported in ROS Kinetic and newer

src/wr_control_drive_arm/config/encoder_parameters.yaml

@@ -3,17 +3,17 @@ encoder_parameters:
   - counts_per_rotation: -2048
     offset: 736
 # forearm_roll
-  - counts_per_rotation: 2048
-    offset: 0
+  - counts_per_rotation: -2048
+    offset: 600
 # shoulder
   - counts_per_rotation: -6144
-    offset: 460
+    offset: 1450
 # turntable
   - counts_per_rotation: 2048
-    offset: 1111
+    offset: 736
 # wrist_pitch
   - counts_per_rotation: 2048
-    offset: 350
+    offset: 696
 # wrist_roll
   - counts_per_rotation: 2048
-    offset: 1023
+    offset: 1045

src/wr_control_drive_arm/src/AbstractJoint.cpp

@@ -1,40 +1,41 @@
 /**
  * @file AbstractJoint.cpp
  * @author Nichols Underwood
- * @brief ablskjlfkejfs
+ * @brief Implementation of the AbstractJoint class
  * @date 2021-10-25
  */
+
 #include "AbstractJoint.hpp"
 
-AbstractJoint::AbstractJoint(ros::NodeHandle* n, int numMotors){
-    this->n = n;
-    this->numMotors = numMotors;
-
-    jointPositions.reserve(numMotors);
-    jointVelocites.reserve(numMotors);
-
+AbstractJoint::AbstractJoint(ros::NodeHandle &n, int numMotors){
+    this->motors.resize(numMotors);
 }
 
-int AbstractJoint::getDegreesOfFreedom(){
-    return this->numMotors;
+auto AbstractJoint::getDegreesOfFreedom() const -> unsigned int{
+    return this->motors.size();
 }
 
-ArmMotor* AbstractJoint::getMotor(int motorIndex){
-    return this->motors[motorIndex];
+auto AbstractJoint::getMotor(int motorIndex) const -> const std::unique_ptr<ArmMotor>&{
+    return this->motors.at(motorIndex).motor;
 }
 
 void AbstractJoint::configSetpoint(int degreeIndex, double position, double velocity){
 
-    this->jointPositions[degreeIndex] = position;
-    this->jointVelocites[degreeIndex] = velocity;
+    this->motors.at(degreeIndex).position = position;
+    this->motors.at(degreeIndex).velocity = velocity;
 }
 
 
-bool AbstractJoint::exectute(){
-    vector<double> motorPositions;
-    this->getMotorPositions(jointPositions, motorPositions);
-    for(int i = 0; i < this->numMotors; i++){
-        if (!this->motors[i]->runToTarget(motorPositions[i], 0)) return false;
+auto AbstractJoint::exectute() -> bool{
+    for(auto &motorHandle : motors){
+        if (!motorHandle.motor->runToTarget(motorHandle.position, motorHandle.velocity)); 
+            return false;
     }
     return true;
+}
+
+void AbstractJoint::stopJoint(){
+    for(auto &motorHandle : motors){
+        motorHandle.motor->setPower(0.F);
+    }
 }

src/wr_control_drive_arm/src/AbstractJoint.hpp

@@ -1,43 +1,46 @@
+/**
+ * @file AbstractJoint.hpp
+ * @author Nichols Underwood
+ * @brief Header file of the AbstractJoint class
+ * @date 2021-10-25
+ */
+
 #ifndef ABSTRACT_JOINT_GUARD
 #define ABSTRACT_JOINT_GUARD
 
 #include "ArmMotor.hpp"
 using std::vector;
 
 class AbstractJoint {
+public:
+    struct MotorHandler{
+        std::unique_ptr<ArmMotor> motor;
+        double position;
+        double velocity;
+        std::string jointTopicName;
+        std::string motorTopicName;
+        bool newVelocity;
+    };
 
+    AbstractJoint(ros::NodeHandle &n, int numMotors);
 
-    protected:
-        ros::NodeHandle* n;
-        unsigned int numMotors;
-        vector<ArmMotor*> motors;
-
-        vector<double> jointPositions;   
-        vector<double> jointVelocites;
-
-        vector<std::string> jointTopicsNames;  
-        vector<std::string> motorTopicsNames;  
-        vector<bool> newVelocitiesVector;
-
-    public:
-
-        AbstractJoint(ros::NodeHandle* n, int numMotors);
-        ~AbstractJoint(){};
+    // never used, need to be defined for compiler v-table
+    virtual auto getMotorPositions(const vector<double> &jointPositions) -> vector<double> = 0;
+    virtual auto getMotorVelocities(const vector<double> &joinVelocities) -> vector<double> = 0;
+    virtual auto getJointPositions(const vector<double> &motorPositions) -> vector<double> = 0;
 
-        // never used, need to be defined for compiler v-table
-        virtual void getMotorPositions(vector<double> &jointPositions, vector<double> &target) = 0;
-        virtual void getMotorVelocities(vector<double> &joinVelocities, vector<double> &target) = 0;
-        virtual void getJointPositions(vector<double> &motorPositions, vector<double> &target) = 0;
+    auto getDegreesOfFreedom() const -> unsigned int;
+
+    auto getMotor(int motorIndex) const -> const std::unique_ptr<ArmMotor>&;
 
-        int getDegreesOfFreedom();
-
-        ArmMotor* getMotor(int motorIndex);
+    void configSetpoint(int degreeIndex, double position, double velocity);
 
-        void configSetpoint(int degreeIndex, double position, double velocity);
+    auto exectute() -> bool;
 
-        bool exectute();
+    void stopJoint();
 
-        // virtual void configVelocityHandshake(std::string, std::string) = 0;
+protected:
+    vector<MotorHandler> motors;
 };
 
 #endif