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Unfortunately, lot's of whitespace changes, required to satisfy unspecified code style format errors.

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This commit is contained in:
jwilson
2016-06-20 19:36:21 -07:00
committed by Julian Oes
parent 1091319274
commit acc1f04b67
4 changed files with 131 additions and 94 deletions
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60
src/modules/muorb/adsp/px4muorb.cpp
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@@ -49,10 +49,10 @@ __BEGIN_DECLS
extern int dspal_main(int argc, char *argv[]);
extern struct shmem_info *shmem_info_p;
extern int get_shmem_lock(const char *caller_file_name, int caller_line_number);
extern void release_shmem_lock(const char *caller_file_name, int caller_line_number);
extern void release_shmem_lock(const char *caller_file_name,
int caller_line_number);
extern void init_shared_memory(void);
__END_DECLS
int px4muorb_orb_initialize()
{
HAP_power_request(100, 100, 1000);
@@ -60,13 +60,14 @@ int px4muorb_orb_initialize()
// The uORB Manager needs to be initialized first up, otherwise the instance is nullptr.
uORB::Manager::initialize();
// Register the fastrpc muorb with uORBManager.
uORB::Manager::get_instance()->set_uorb_communicator(uORB::FastRpcChannel::GetInstance());
uORB::Manager::get_instance()->set_uorb_communicator(
uORB::FastRpcChannel::GetInstance());
// Now continue with the usual dspal startup.
const char *argv[] = {"dspal", "start"};
const char *argv[] = { "dspal", "start" };
int argc = 2;
int rc;
rc = dspal_main(argc, (char **)argv);
rc = dspal_main(argc, (char **) argv);
return rc;
}
@@ -83,12 +84,13 @@ int px4muorb_get_absolute_time(uint64_t *time_us)
}
/*update value and param's change bit in shared memory*/
int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value, int data_len_in_bytes)
int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value,
int data_len_in_bytes)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *)value;
union param_value_u *param_value = (union param_value_u *) value;
if(!shmem_info_p) {
if (!shmem_info_p) {
init_shared_memory();
}
@@ -108,11 +110,12 @@ int px4muorb_param_update_to_shmem(uint32_t param, const uint8_t *value, int dat
return 0;
}
int px4muorb_param_update_index_from_shmem(unsigned char *data, int data_len_in_bytes)
int px4muorb_param_update_index_from_shmem(unsigned char *data,
int data_len_in_bytes)
{
unsigned int i;
if(!shmem_info_p)
if (!shmem_info_p)
return -1;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
@@ -129,12 +132,13 @@ int px4muorb_param_update_index_from_shmem(unsigned char *data, int data_len_in_
return 0;
}
int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value, int data_len_in_bytes)
int px4muorb_param_update_value_from_shmem(uint32_t param, const uint8_t *value,
int data_len_in_bytes)
{
unsigned int byte_changed, bit_changed;
union param_value_u *param_value = (union param_value_u *)value;
union param_value_u *param_value = (union param_value_u *) value;
if(!shmem_info_p)
if (!shmem_info_p)
return -1;
if (get_shmem_lock(__FILE__, __LINE__) != 0) {
@@ -192,14 +196,16 @@ int px4muorb_remove_subscriber(const char *name)
return rc;
}
int px4muorb_send_topic_data(const char *name, const uint8_t *data, int data_len_in_bytes)
int px4muorb_send_topic_data(const char *name, const uint8_t *data,
int data_len_in_bytes)
{
int rc = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
uORBCommunicator::IChannelRxHandler *rxHandler = channel->GetRxHandler();
if (rxHandler != nullptr) {
rc = rxHandler->process_received_message(name, data_len_in_bytes, (uint8_t *)data);
rc = rxHandler->process_received_message(name, data_len_in_bytes,
(uint8_t *) data);
} else {
rc = -1;
@@ -216,37 +222,39 @@ int px4muorb_is_subscriber_present(const char *topic_name, int *status)
rc = channel->is_subscriber_present(topic_name, &local_status);
if (rc == 0) {
*status = (int)local_status;
*status = (int) local_status;
}
return rc;
}
int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len, uint8_t *data, int data_len_in_bytes,
int *bytes_returned)
int px4muorb_receive_msg(int *msg_type, char *topic_name, int topic_name_len,
uint8_t *data, int data_len_in_bytes, int *bytes_returned)
{
int rc = 0;
int32_t local_msg_type = 0;
int32_t local_bytes_returned = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_data(&local_msg_type, topic_name, topic_name_len, data, data_len_in_bytes, &local_bytes_returned);
*msg_type = (int)local_msg_type;
*bytes_returned = (int)local_bytes_returned;
rc = channel->get_data(&local_msg_type, topic_name, topic_name_len, data,
data_len_in_bytes, &local_bytes_returned);
*msg_type = (int) local_msg_type;
*bytes_returned = (int) local_bytes_returned;
return rc;
}
int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer, int max_size_in_bytes,
int *returned_length_in_bytes, int *topic_count)
int px4muorb_receive_bulk_data(uint8_t *bulk_transfer_buffer,
int max_size_in_bytes, int *returned_length_in_bytes, int *topic_count)
{
int rc = 0;
int32_t local_bytes_returned = 0;
int32_t local_topic_count = 0;
uORB::FastRpcChannel *channel = uORB::FastRpcChannel::GetInstance();
//PX4_DEBUG( "topic_namePtr: [0x%p] dataPtr: [0x%p]", topic_name, data );
rc = channel->get_bulk_data(bulk_transfer_buffer, max_size_in_bytes, &local_bytes_returned, &local_topic_count);
*returned_length_in_bytes = (int)local_bytes_returned;
*topic_count = (int)local_topic_count;
rc = channel->get_bulk_data(bulk_transfer_buffer, max_size_in_bytes,
&local_bytes_returned, &local_topic_count);
*returned_length_in_bytes = (int) local_bytes_returned;
*topic_count = (int) local_topic_count;
return rc;
}