From ef7e11e56c37c9ab896ab8ddeb985da53c0e0349 Mon Sep 17 00:00:00 2001 From: blah Date: Mon, 25 Jan 2016 13:03:39 -0800 Subject: [PATCH] more format fixing... --- src/modules/uavcan/actuators/hardpoint.hpp | 10 +- src/modules/uavcan/uavcan_main.cpp | 40 +++---- src/modules/uavcan/uavcan_main.hpp | 118 ++++++++++----------- 3 files changed, 84 insertions(+), 84 deletions(-) diff --git a/src/modules/uavcan/actuators/hardpoint.hpp b/src/modules/uavcan/actuators/hardpoint.hpp index 6b4daa58c8..770aa9ba3c 100644 --- a/src/modules/uavcan/actuators/hardpoint.hpp +++ b/src/modules/uavcan/actuators/hardpoint.hpp @@ -69,11 +69,11 @@ 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; - bool _cmd_set = false; + bool _cmd_set = false; void periodic_update(const uavcan::TimerEvent &); @@ -83,9 +83,9 @@ private: /* * libuavcan related things */ - uavcan::MonotonicTime _prev_cmd_pub; ///< rate limiting - uavcan::INode &_node; + uavcan::MonotonicTime _prev_cmd_pub; ///< rate limiting + uavcan::INode &_node; uavcan::Publisher _uavcan_pub_raw_cmd; - uavcan::TimerEventForwarder _timer; + uavcan::TimerEventForwarder _timer; }; diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 22a6c817b1..ca97052a65 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -7,14 +7,14 @@ * are met: * * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. + * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. + * used to endorse or promote products derived from this software + * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT @@ -37,8 +37,8 @@ * Implements basic functionality of UAVCAN node. * * @author Pavel Kirienko - * David Sidrane - * Andreas Jochum + * David Sidrane + * Andreas Jochum */ #include @@ -205,8 +205,8 @@ int UavcanNode::print_params(uavcan::protocol::param::GetSet::Response &resp) resp.value.to()); } else if (resp.value.is(uavcan::protocol::param::Value::Tag::real_value)) { - return std::printf("name: %s %.4f\n", resp.name.c_str(), - static_cast(resp.value.to())); + return std::printf("name: %s %.4f\n", resp.name.c_str(), + static_cast(resp.value.to())); } else if (resp.value.is(uavcan::protocol::param::Value::Tag::boolean_value)) { return std::printf("name: %s %d\n", resp.name.c_str(), @@ -703,9 +703,9 @@ int UavcanNode::add_poll_fd(int fd) errx(1, "uavcan: too many poll fds, exiting"); } - _poll_fds[_poll_fds_num] = ::pollfd(); - _poll_fds[_poll_fds_num].fd = fd; - _poll_fds[_poll_fds_num].events = POLLIN; + _poll_fds[_poll_fds_num] = ::pollfd(); + _poll_fds[_poll_fds_num].fd = fd; + _poll_fds[_poll_fds_num].events = POLLIN; _poll_fds_num += 1; return ret; } @@ -797,7 +797,7 @@ int UavcanNode::run() /* * XXX Mixing logic/subscriptions shall be moved into UavcanEscController::update(); - * IO multiplexing shall be done here. + * IO multiplexing shall be done here. */ _node.setModeOperational(); @@ -822,7 +822,7 @@ int UavcanNode::run() switch (_fw_server_action) { case Start: - _fw_server_status = start_fw_server(); + _fw_server_status = start_fw_server(); break; case Stop: @@ -1149,8 +1149,8 @@ UavcanNode::print_info() printf("UAVCAN node status:\n"); printf("\tInternal failures: %llu\n", _node.getInternalFailureCount()); printf("\tTransfer errors: %llu\n", _node.getDispatcher().getTransferPerfCounter().getErrorCount()); - printf("\tRX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getRxTransferCount()); - printf("\tTX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getTxTransferCount()); + printf("\tRX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getRxTransferCount()); + printf("\tTX transfers: %llu\n", _node.getDispatcher().getTransferPerfCounter().getTxTransferCount()); // CAN driver status for (unsigned i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) { @@ -1189,13 +1189,13 @@ UavcanNode::print_info() printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n"); for (uint8_t i = 0; i < _outputs.noutputs; i++) { - printf("%d\t", esc.esc[i].esc_address); + printf("%d\t", esc.esc[i].esc_address); printf("%3.2f\t", (double)esc.esc[i].esc_voltage); printf("%3.2f\t", (double)esc.esc[i].esc_current); printf("%3.2f\t", (double)esc.esc[i].esc_temperature); printf("%3.2f\t", (double)esc.esc[i].esc_setpoint); - printf("%d\t", esc.esc[i].esc_rpm); - printf("%d", esc.esc[i].esc_errorcount); + printf("%d\t", esc.esc[i].esc_rpm); + printf("%d", esc.esc[i].esc_errorcount); printf("\n"); } diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index 02a4c4bb70..5c7d764602 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -7,14 +7,14 @@ * are met: * * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. + * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. + * used to endorse or promote products derived from this software + * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT @@ -37,7 +37,7 @@ * Defines basic functinality of UAVCAN node. * * @author Pavel Kirienko - * Andreas Jochum + * Andreas Jochum */ #pragma once @@ -82,12 +82,12 @@ static constexpr unsigned UAVCANIOC_HARDPOINT_SET = _PX4_IOC(UAVCANIOCBASE, 0x10 */ class UavcanNode : public device::CDev { - static constexpr unsigned MaxBitRatePerSec = 1000000; - static constexpr unsigned bitPerFrame = 148; - static constexpr unsigned FramePerSecond = MaxBitRatePerSec / bitPerFrame; - static constexpr unsigned FramePerMSecond = ((FramePerSecond / 1000) + 1); + static constexpr unsigned MaxBitRatePerSec = 1000000; + static constexpr unsigned bitPerFrame = 148; + static constexpr unsigned FramePerSecond = MaxBitRatePerSec / bitPerFrame; + static constexpr unsigned FramePerMSecond = ((FramePerSecond / 1000) + 1); - static constexpr unsigned PollTimeoutMs = 3; + static constexpr unsigned PollTimeoutMs = 3; /* @@ -102,8 +102,8 @@ class UavcanNode : public device::CDev * 1000000/200 */ - static constexpr unsigned RxQueueLenPerIface = FramePerMSecond * PollTimeoutMs; // At - static constexpr unsigned StackSize = 1800; + static constexpr unsigned RxQueueLenPerIface = FramePerMSecond * PollTimeoutMs; // At + static constexpr unsigned StackSize = 1800; public: typedef uavcan_stm32::CanInitHelper CanInitHelper; @@ -124,9 +124,9 @@ public: void subscribe(); - int teardown(); + int teardown(); - int arm_actuators(bool arm); + int arm_actuators(bool arm); void print_info(); @@ -135,14 +135,14 @@ public: void hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command); static UavcanNode *instance() { return _instance; } - static int getHardwareVersion(uavcan::protocol::HardwareVersion &hwver); - int fw_server(eServerAction action); - void attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;} - int list_params(int remote_node_id); - int save_params(int remote_node_id); - int set_param(int remote_node_id, const char *name, char *value); - int get_param(int remote_node_id, const char *name); - int reset_node(int remote_node_id); + static int getHardwareVersion(uavcan::protocol::HardwareVersion &hwver); + int fw_server(eServerAction action); + void attachITxQueueInjector(ITxQueueInjector *injector) {_tx_injector = injector;} + int list_params(int remote_node_id); + int save_params(int remote_node_id); + int set_param(int remote_node_id, const char *name, char *value); + int get_param(int remote_node_id, const char *name); + int reset_node(int remote_node_id); @@ -152,24 +152,24 @@ private: void node_spin_once(); int run(); int add_poll_fd(int fd); ///< add a fd to poll list, returning index into _poll_fds[] - int start_fw_server(); - int stop_fw_server(); - int request_fw_check(); - int print_params(uavcan::protocol::param::GetSet::Response &resp); - int get_set_param(int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req); - void set_setget_response(uavcan::protocol::param::GetSet::Response *resp) + int start_fw_server(); + int stop_fw_server(); + int request_fw_check(); + int print_params(uavcan::protocol::param::GetSet::Response &resp); + int get_set_param(int nodeid, const char *name, uavcan::protocol::param::GetSet::Request &req); + void set_setget_response(uavcan::protocol::param::GetSet::Response *resp) { _setget_response = resp; } - void free_setget_response(void) + void free_setget_response(void) { _setget_response = nullptr; } int _task = -1; ///< handle to the OS task bool _task_should_exit = false; ///< flag to indicate to tear down the CAN driver - volatile eServerAction _fw_server_action; - int _fw_server_status; + volatile eServerAction _fw_server_action; + int _fw_server_status; int _armed_sub = -1; ///< uORB subscription of the arming status actuator_armed_s _armed = {}; ///< the arming request of the system bool _is_armed = false; ///< the arming status of the actuators on the bus @@ -182,40 +182,40 @@ private: static UavcanNode *_instance; ///< singleton pointer - uavcan_node::Allocator _pool_allocator; + uavcan_node::Allocator _pool_allocator; - uavcan::Node<> _node; ///< library instance - pthread_mutex_t _node_mutex; - px4_sem_t _server_command_sem; - UavcanEscController _esc_controller; - UavcanHardpointController _hardpoint_controller; - uavcan::GlobalTimeSyncMaster _time_sync_master; - uavcan::GlobalTimeSyncSlave _time_sync_slave; + uavcan::Node<> _node; ///< library instance + pthread_mutex_t _node_mutex; + px4_sem_t _server_command_sem; + UavcanEscController _esc_controller; + UavcanHardpointController _hardpoint_controller; + uavcan::GlobalTimeSyncMaster _time_sync_master; + uavcan::GlobalTimeSyncSlave _time_sync_slave; - List _sensor_bridges; ///< List of active sensor bridges + List _sensor_bridges; ///< List of active sensor bridges - MixerGroup *_mixers = nullptr; - ITxQueueInjector *_tx_injector; - uint32_t _groups_required = 0; - uint32_t _groups_subscribed = 0; - int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; - actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; - orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; - pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {}; - unsigned _poll_fds_num = 0; + MixerGroup *_mixers = nullptr; + ITxQueueInjector *_tx_injector; + uint32_t _groups_required = 0; + uint32_t _groups_subscribed = 0; + int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; + actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; + orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {}; + pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {}; + unsigned _poll_fds_num = 0; - int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic - uint8_t _actuator_direct_poll_fd_num = 0; - actuator_direct_s _actuator_direct = {}; + int _actuator_direct_sub = -1; ///< uORB subscription of the actuator_direct topic + uint8_t _actuator_direct_poll_fd_num = 0; + actuator_direct_s _actuator_direct = {}; - actuator_outputs_s _outputs = {}; + actuator_outputs_s _outputs = {}; // index into _poll_fds for each _control_subs handle - uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN]; + uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN]; - perf_counter_t _perfcnt_node_spin_elapsed = perf_alloc(PC_ELAPSED, "uavcan_node_spin_elapsed"); - perf_counter_t _perfcnt_esc_mixer_output_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_output_elapsed"); - perf_counter_t _perfcnt_esc_mixer_total_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_total_elapsed"); + perf_counter_t _perfcnt_node_spin_elapsed = perf_alloc(PC_ELAPSED, "uavcan_node_spin_elapsed"); + perf_counter_t _perfcnt_esc_mixer_output_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_output_elapsed"); + perf_counter_t _perfcnt_esc_mixer_total_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_total_elapsed"); void handle_time_sync(const uavcan::TimerEvent &);