Fixed formating and cleanup

src/modules/uavcan/actuators/hardpoint.cpp

@@ -56,6 +56,9 @@ UavcanHardpointController::~UavcanHardpointController()
 
 int UavcanHardpointController::init()
 {
+	/*
+	 * Setup timer and call back function for periodic updates
+	 */
 	_timer.setCallback(TimerCbBinder(this, &UavcanHardpointController::periodic_update));
 	_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
 	return 0;
@@ -67,32 +70,34 @@ void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t comma
 	_cmd.command = command;
 	_cmd.hardpoint_id = hardpoint_id;
 	_cmd_set = true;
-    /*
-     * Rate limiting - we don't want to congest the bus
-     */
-    const auto timestamp = _node.getMonotonicTime();
 
-    if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
-        return;
-    }
+	/*
+	 * Rate limiting - we don't want to congest the bus
+	 */
+	const auto timestamp = _node.getMonotonicTime();
 
-    _prev_cmd_pub = timestamp;
+	if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
+		return;
+	}
 
-    /*
-     * Publish the command message to the bus
-     */
+	_prev_cmd_pub = timestamp;
+
+	/*
+	 * Publish the command message to the bus
+	 */
 	(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
 
 	/*
 	 * Start the periodic update timer after a command is set
 	 */
-	if (!_timer.isRunning())
-	{
+	if (!_timer.isRunning()) {
 		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
 	}
 }
 void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
 {
+	/*
+	 * Broadcast command at MAX_RATE_HZ
+	 */
 	(void)_uavcan_pub_raw_cmd.broadcast(_cmd);
-	//do something
 }

src/modules/uavcan/actuators/hardpoint.hpp

@@ -34,7 +34,6 @@
 /**
  * @file hardpoint.hpp
  *
- *
  * @author Andreas Jochum <Andreas@NicaDrone.com>
  */
 
@@ -44,8 +43,10 @@
 #include <uavcan/equipment/hardpoint/Command.hpp>
 #include <uavcan/equipment/hardpoint/Status.hpp>
 #include <systemlib/perf_counter.h>
-//#include <uORB/topics/esc_status.h>
 
+/**
+ * @brief The UavcanHardpointController class
+ */
 
 class UavcanHardpointController
 {
@@ -53,34 +54,38 @@ public:
 	UavcanHardpointController(uavcan::INode &node);
 	~UavcanHardpointController();
 
+	/*
+	* setup periodic updater
+	*/
 	int init();
 
+
+	/*
+	 * set command
+	 */
 	void set_command(uint8_t hardpoint_id, uint16_t command);
 
 private:
+	/*
+	 * Max update rate to avoid exessive bus traffic
+	 */
+	static constexpr unsigned					MAX_RATE_HZ = 1;	///< XXX make this configurable
 
-	static constexpr unsigned MAX_RATE_HZ = 1;			///< XXX make this configurable
+	uavcan::equipment::hardpoint::Command		_cmd;
 
-
-	uavcan::equipment::hardpoint::Command _cmd;
-
-	bool _cmd_set = false;
+	bool										_cmd_set = false;
 
 	void periodic_update(const uavcan::TimerEvent &);
 
 	typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)>
 	TimerCbBinder;
 
-	//    hardpoint_status_s	_hardpoint_status = {};
-	orb_advert_t	_hardpoint_status_pub = nullptr;
-
 	/*
 	 * libuavcan related things
 	 */
-	uavcan::MonotonicTime							_prev_cmd_pub;   ///< rate limiting
-	uavcan::INode								&_node;
-	uavcan::Publisher<uavcan::equipment::hardpoint::Command>			_uavcan_pub_raw_cmd;
-	//	uavcan::Subscriber<uavcan::equipment::hardpoint::Status, StatusCbBinder>	_uavcan_sub_status;
-	uavcan::TimerEventForwarder<TimerCbBinder>				_timer;
+	uavcan::MonotonicTime										_prev_cmd_pub;   ///< rate limiting
+	uavcan::INode												&_node;
+	uavcan::Publisher<uavcan::equipment::hardpoint::Command>	_uavcan_pub_raw_cmd;
+	uavcan::TimerEventForwarder<TimerCbBinder>					_timer;
 
 };

src/modules/uavcan/uavcan_main.cpp

@@ -31,6 +31,16 @@
  *
  ****************************************************************************/
 
+/**
+ * @file uavcan_main.cpp
+ *
+ * Implements basic functionality of UAVCAN node.
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ *         David Sidrane <david_s5@nscdg.com>
+ *         Andreas Jochum <Andreas@NicaDrone.com>
+ */
+
 #include <px4_config.h>
 
 #include <cstdlib>
@@ -62,16 +72,6 @@
 // #include <sys/types.h> and leaving OK undefined
 # define OK 0
 
-
-/**
- * @file uavcan_main.cpp
- *
- * Implements basic functionality of UAVCAN node.
- *
- * @author Pavel Kirienko <pavel.kirienko@gmail.com>
- *         David Sidrane <david_s5@nscdg.com>
- */
-
 /*
  * UavcanNode
  */
@@ -1110,8 +1110,8 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 
 
 	case UAVCANIOC_HARDPOINT_SET: {
-		const auto& cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command*>(arg);
-		_hardpoint_controller.set_command(cmd.hardpoint_id, cmd.command);
+			const auto &cmd = *reinterpret_cast<uavcan::equipment::hardpoint::Command *>(arg);
+			_hardpoint_controller.set_command(cmd.hardpoint_id, cmd.command);
 		}
 		break;
 
@@ -1141,7 +1141,7 @@ UavcanNode::print_info()
 	// Memory status
 	printf("Pool allocator status:\n");
 	printf("\tCapacity hard/soft: %u/%u blocks\n",
-		_pool_allocator.getBlockCapacityHardLimit(), _pool_allocator.getBlockCapacity());
+	       _pool_allocator.getBlockCapacityHardLimit(), _pool_allocator.getBlockCapacity());
 	printf("\tReserved:  %u blocks\n", _pool_allocator.getNumReservedBlocks());
 	printf("\tAllocated: %u blocks\n", _pool_allocator.getNumAllocatedBlocks());
 
@@ -1222,7 +1222,8 @@ void UavcanNode::shrink()
 	(void)pthread_mutex_unlock(&_node_mutex);
 }
 
-void UavcanNode::hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command){
+void UavcanNode::hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command)
+{
 	_hardpoint_controller.set_command(hardpoint_id, command);
 }
 /*
@@ -1375,6 +1376,7 @@ int uavcan_main(int argc, char *argv[])
 			return inst->set_param(nodeid, argv[4], argv[5]);
 		}
 	}
+
 	if (!std::strcmp(argv[1], "hardpoint")) {
 		if (!std::strcmp(argv[2], "set") && argc > 4) {
 			const int hardpoint_id = atoi(argv[3]);
@@ -1382,19 +1384,20 @@ int uavcan_main(int argc, char *argv[])
 
 			// Sanity check - weed out negative values, check against maximums
 			if (hardpoint_id >= 0 &&
-				hardpoint_id < 256 &&
-				command >= 0 &&
-				command < 65536) {
+			    hardpoint_id < 256 &&
+			    command >= 0 &&
+			    command < 65536) {
 				inst->hardpoint_controller_set((uint8_t) hardpoint_id, (uint16_t) command);
-			}
-			else {
+
+			} else {
 				errx(1, "Are you nuts?");
 			}
-		}
-		else {
+
+		} else {
 			errx(1, "Are you nuts?");
 		}
 	}
+
 	if (!std::strcmp(argv[1], "stop")) {
 		if (fw) {
 

src/modules/uavcan/uavcan_main.hpp

@@ -31,6 +31,15 @@
  *
  ****************************************************************************/
 
+/**
+ * @file uavcan_main.hpp
+ *
+ * Defines basic functinality of UAVCAN node.
+ *
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ *         Andreas Jochum <Andreas@NicaDrone.com>
+ */
+
 #pragma once
 
 #include <px4_config.h>
@@ -59,14 +68,6 @@
 #include "uavcan_servers.hpp"
 #include "allocator.hpp"
 
-/**
- * @file uavcan_main.hpp
- *
- * Defines basic functinality of UAVCAN node.
- *
- * @author Pavel Kirienko <pavel.kirienko@gmail.com>
- */
-
 #define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN	4
 
 // we add two to allow for actuator_direct and busevent
@@ -124,6 +125,7 @@ public:
 	void		subscribe();
 
 	int			teardown();
+
 	int			arm_actuators(bool arm);
 
 	void		print_info();