#10 fix:Some code optimization

Author: KingRichord

infinite_sense_core/src/messenger.cpp

@@ -67,8 +67,8 @@ void Messenger::Sub(const std::string& topic, const std::function<void(const std
           LOG(WARNING) << "Subscription receive failed for topic: " << topic;
           continue;
         }
-        std::string received_topic(static_cast<char*>(topic_msg.data()), topic_msg.size());
-        if (received_topic != topic) {
+        if (std::string received_topic(static_cast<char*>(topic_msg.data()), topic_msg.size());
+            received_topic != topic) {
           continue;
         }
         std::string data(static_cast<char*>(data_msg.data()), data_msg.size());
@@ -93,8 +93,8 @@ void Messenger::SubStruct(const std::string& topic, const std::function<void(con
           LOG(WARNING) << "Subscription to topic [" << topic << "] failed.";
           continue;
         }
-        std::string received_topic(static_cast<char*>(topic_msg.data()), topic_msg.size());
-        if (received_topic != topic) {
+        if (std::string received_topic(static_cast<char*>(topic_msg.data()), topic_msg.size());
+            received_topic != topic) {
           continue;
         }
         callback(data_msg.data(), data_msg.size());

infinite_sense_core/src/net.cpp

@@ -54,7 +54,7 @@ void NetManager::Receive() const {
   unsigned short source_port = 0;
 
   while (started_) {
-    int size = net_ptr_->recvFrom(buffer.data(), k_buffer_size, source_address, source_port);
+    const int size = net_ptr_->recvFrom(buffer.data(), k_buffer_size, source_address, source_port);
     if (size <= 0) {
       std::this_thread::sleep_for(std::chrono::milliseconds(1));
       continue;

infinite_sense_core/src/ptp.cpp

@@ -17,7 +17,7 @@ void Ptp::SetUsbPtr(const std::shared_ptr<serial::Serial>& serial_ptr) {
 }
 
 void Ptp::SetNetPtr(const std::shared_ptr<UDPSocket>& net_ptr, const std::string& target_ip,
-                    unsigned short port) {
+                    const unsigned short port) {
   net_ptr_ = net_ptr;
   target_ip_ = target_ip;
   port_ = port;
@@ -56,7 +56,7 @@ void Ptp::HandleTimeSyncResponse(const nlohmann::json& data) {
       const int64_t delay = static_cast<int64_t>(t4 - t3 + time_t2_ - time_t1_) / 2;
       const int64_t offset = static_cast<int64_t>(time_t2_ - time_t1_ - t4 + t3) / 2;
 
-      nlohmann::json response = {
+      const nlohmann::json response = {
           {func_name, func_type_b},
           {func_type_a, delay},
           {func_type_b, offset},
@@ -73,7 +73,7 @@ void Ptp::HandleTimeSyncResponse(const nlohmann::json& data) {
 void Ptp::SendPtpData() const {
   const uint64_t mark = GetCurrentTimeUs();
 
-  nlohmann::json data = {
+  const nlohmann::json data = {
       {func_name, func_type_a},
       {func_type_a, mark},
   };

infinite_sense_core/src/usb.cpp

@@ -5,7 +5,7 @@
 
 namespace infinite_sense {
 
-UsbManager::UsbManager(std::string port, int baud_rate) : port_(std::move(port)), started_(false) {
+UsbManager::UsbManager(std::string port, const int baud_rate) : port_(std::move(port)), started_(false) {
   serial_ptr_ = std::make_unique<serial::Serial>();
   try {
     serial_ptr_->setPort(port_);