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Reflowed comments and removed commented out code (#735)

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This commit is contained in:
Tyler Veness
2017-11-16 00:33:51 -08:00
committed by Peter Johnson
parent 1e8d18b328
commit c663d7cd16
103 changed files with 784 additions and 778 deletions
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47
wpilibc/src/main/native/cpp/Ultrasonic.cpp
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@@ -21,13 +21,17 @@ using namespace frc;
// Time (sec) for the ping trigger pulse.
constexpr double Ultrasonic::kPingTime;
// Priority that the ultrasonic round robin task runs.
const int Ultrasonic::kPriority;
// Max time (ms) between readings.
constexpr double Ultrasonic::kMaxUltrasonicTime;
constexpr double Ultrasonic::kSpeedOfSoundInchesPerSec;
// automatic round robin mode
// Automatic round robin mode.
std::atomic<bool> Ultrasonic::m_automaticEnabled{false};
std::set<Ultrasonic*> Ultrasonic::m_sensors;
std::thread Ultrasonic::m_thread;
@@ -60,19 +64,19 @@ void Ultrasonic::UltrasonicChecker() {
*
* This is the common code that initializes the ultrasonic sensor given that
* there are two digital I/O channels allocated. If the system was running in
* automatic mode (round robin) when the new sensor is added, it is stopped,
* the sensor is added, then automatic mode is restored.
* automatic mode (round robin) when the new sensor is added, it is stopped, the
* sensor is added, then automatic mode is restored.
*/
void Ultrasonic::Initialize() {
bool originalMode = m_automaticEnabled;
SetAutomaticMode(false); // kill task when adding a new sensor
// link this instance on the list
SetAutomaticMode(false); // Kill task when adding a new sensor
// Link this instance on the list
m_sensors.insert(this);
m_counter.SetMaxPeriod(1.0);
m_counter.SetSemiPeriodMode(true);
m_counter.Reset();
m_enabled = true; // make it available for round robin scheduling
m_enabled = true; // Make it available for round robin scheduling
SetAutomaticMode(originalMode);
static int instances = 0;
@@ -85,8 +89,7 @@ void Ultrasonic::Initialize() {
/**
* Create an instance of the Ultrasonic Sensor.
*
* This is designed to support the Daventech SRF04 and Vex ultrasonic
* sensors.
* This is designed to support the Daventech SRF04 and Vex ultrasonic sensors.
*
* @param pingChannel The digital output channel that sends the pulse to
* initiate the sensor sending the ping.
@@ -222,10 +225,9 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
// Wait for background task to stop running
m_thread.join();
/* Clear all the counters (data now invalid) since automatic mode is
* disabled. No synchronization is needed because the background task is
* stopped.
*/
// Clear all the counters (data now invalid) since automatic mode is
// disabled. No synchronization is needed because the background task is
// stopped.
for (auto& sensor : m_sensors) {
sensor->m_counter.Reset();
}
@@ -242,9 +244,12 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
*/
void Ultrasonic::Ping() {
wpi_assert(!m_automaticEnabled);
m_counter.Reset(); // reset the counter to zero (invalid data now)
m_pingChannel->Pulse(
kPingTime); // do the ping to start getting a single range
// Reset the counter to zero (invalid data now)
m_counter.Reset();
// Do the ping to start getting a single range
m_pingChannel->Pulse(kPingTime);
}
/**
@@ -259,9 +264,9 @@ bool Ultrasonic::IsRangeValid() const { return m_counter.Get() > 1; }
/**
* Get the range in inches from the ultrasonic sensor.
*
* @return double Range in inches of the target returned from the ultrasonic
* sensor. If there is no valid value yet, i.e. at least one
* measurement hasn't completed, then return 0.
* @return Range in inches of the target returned from the ultrasonic sensor. If
* there is no valid value yet, i.e. at least one measurement hasn't
* completed, then return 0.
*/
double Ultrasonic::GetRangeInches() const {
if (IsRangeValid())
@@ -273,9 +278,9 @@ double Ultrasonic::GetRangeInches() const {
/**
* Get the range in millimeters from the ultrasonic sensor.
*
* @return double Range in millimeters of the target returned by the ultrasonic
* sensor. If there is no valid value yet, i.e. at least one
* measurement hasn't completed, then return 0.
* @return Range in millimeters of the target returned by the ultrasonic sensor.
* If there is no valid value yet, i.e. at least one measurement hasn't
* completed, then return 0.
*/
double Ultrasonic::GetRangeMM() const { return GetRangeInches() * 25.4; }