From 1f8541911b75a18c0996ca5be328fdd378f7bed5 Mon Sep 17 00:00:00 2001
From: Bianka Forkel <noreply@fortiss.org>
Date: Mon, 26 Jun 2017 13:05:25 +0000
Subject: [PATCH] Commented Methods refs 7912
---
.../trunk/lib/src/LaserRangeFinder.c | 6 ++++--
.../trunk/lib/src/libuart.c | 21 +++++--------------
2 files changed, 9 insertions(+), 18 deletions(-)
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
index 1b43284d..c440bf94 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
@@ -1,7 +1,7 @@
#include "inc/LaserRangeFinder.h"
-// init, terminate
+/** Initialize the laser range finder. */
void lrf_init() {
//char port[] = "/dev/????????";
char port[100];
@@ -16,15 +16,17 @@ void lrf_init() {
uart_setup(port);
}
+/** Terminate the session. */
void lrf_term() {
uart_close();
}
-// getters
+/** Checking for noVal. */
GEN_TYPE_boolean lrf_is_noval() {
return false;
}
+/** Get one distance measurement from the laser range finder. */
GEN_TYPE_int lrf_read() {
char bytes[5];
int n_read = 0;
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/libuart.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/libuart.c
index d8494a87..28f6b549 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/libuart.c
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/libuart.c
@@ -7,6 +7,7 @@
int uart_filestream = -1;
+/** Initializing the UART connection. */
int uart_setup(const char *porta) {
strcpy(port, porta);
uart_filestream = open(port, O_RDWR | O_NOCTTY | O_NDELAY);
@@ -45,6 +46,7 @@ int uart_setup(const char *porta) {
return uart_filestream;
}
+/** Sending one byte via UART. */
int uart_send_byte(char data, int printt) {
if (uart_filestream != -1) {
int n_written = 0;
@@ -61,22 +63,7 @@ int uart_send_byte(char data, int printt) {
return -1;
}
-int uart_send_string(char *str, int length, int printt) {
- if (uart_filestream != -1) {
- int n_written = 0;
- n_written = write(uart_filestream, str, length);
- if (n_written < 0) {
- if (printt)
- fprintf(stderr, "[%s] Error sending string: %s\n", port, strerror(errno));
- } else {
- if (printt)
- printf("[%s] Sent string %s\n", port, str);
- return 0;
- }
- }
- return -1;
-}
-
+/** Receive from the UART stream. */
int uart_receive(char *c, int bufLen, int printt) {
fd_set set;
struct timeval timeout;
@@ -122,10 +109,12 @@ int uart_receive(char *c, int bufLen, int printt) {
return n_read;
}
+/** Close the UART connection. */
void uart_close() {
close(uart_filestream);
}
+/** Flush the UART buffer. */
void uart_flush() {
tcflush(uart_filestream, TCIFLUSH);
}
--
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