Commented Methods

refs 7912

org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c

 
 #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;

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);
 }