POSIX Sim drivers: Fix formatting

2026-10-29 03:03:34 +08:00 · 2015-10-19 13:35:32 +02:00
parent 480bc2f3c6
commit 0b7f6902a9
10 changed files with 617 additions and 372 deletions
@@ -99,7 +99,7 @@ class ACCELSIM_mag;
 class ACCELSIM : public device::VDev
 {
 public:
-	ACCELSIM(const char* path, enum Rotation rotation);
+	ACCELSIM(const char *path, enum Rotation rotation);
 	virtual ~ACCELSIM();

 	virtual int		init();
@@ -310,8 +310,8 @@ private:
 	int			mag_set_samplerate(unsigned frequency);

 	/* this class cannot be copied */
-	ACCELSIM(const ACCELSIM&);
-	ACCELSIM operator=(const ACCELSIM&);
+	ACCELSIM(const ACCELSIM &);
+	ACCELSIM operator=(const ACCELSIM &);
 };

 /*
@@ -350,12 +350,12 @@ private:
 	void				measure_trampoline(void *arg);

 	/* this class does not allow copying due to ptr data members */
-	ACCELSIM_mag(const ACCELSIM_mag&);
-	ACCELSIM_mag operator=(const ACCELSIM_mag&);
+	ACCELSIM_mag(const ACCELSIM_mag &);
+	ACCELSIM_mag operator=(const ACCELSIM_mag &);
 };


-ACCELSIM::ACCELSIM(const char* path, enum Rotation rotation) :
+ACCELSIM::ACCELSIM(const char *path, enum Rotation rotation) :
 	VDev("ACCELSIM", path),
 	_mag(new ACCELSIM_mag(this)),
 	_accel_call{},
@@ -397,7 +397,7 @@ ACCELSIM::ACCELSIM(const char* path, enum Rotation rotation) :
 	_debug_enabled = false;

 	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ACCELSIM;
-	
+
 	/* Prime _mag with parents devid. */
 	_mag->_device_id.devid = _device_id.devid;
 	_mag->_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_ACCELSIM;
@@ -425,13 +425,17 @@ ACCELSIM::~ACCELSIM()
 	stop();

 	/* free any existing reports */
-	if (_accel_reports != nullptr)
+	if (_accel_reports != nullptr) {
 		delete _accel_reports;
-	if (_mag_reports != nullptr)
-		delete _mag_reports;
+	}

-	if (_accel_class_instance != -1)
+	if (_mag_reports != nullptr) {
+		delete _mag_reports;
+	}
+
+	if (_accel_class_instance != -1) {
 		unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
+	}

 	delete _mag;

@@ -460,18 +464,21 @@ ACCELSIM::init()
 	/* allocate basic report buffers */
 	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));

-	if (_accel_reports == nullptr)
+	if (_accel_reports == nullptr) {
 		goto out;
+	}

 	_mag_reports = new ringbuffer::RingBuffer(2, sizeof(mag_report));

-	if (_mag_reports == nullptr)
+	if (_mag_reports == nullptr) {
 		goto out;
+	}

 	reset();

 	/* do VDev init for the mag device node */
 	ret = _mag->init();
+
 	if (ret != OK) {
 		PX4_WARN("MAG init failed");
 		goto out;
@@ -485,7 +492,7 @@ ACCELSIM::init()

 	/* measurement will have generated a report, publish */
 	_mag->_mag_topic = orb_advertise_multi(ORB_ID(sensor_mag), &mrp,
-		&_mag->_mag_orb_class_instance, ORB_PRIO_LOW);
+					       &_mag->_mag_orb_class_instance, ORB_PRIO_LOW);

 	if (_mag->_mag_topic == nullptr) {
 		PX4_WARN("ADVERT ERR");
@@ -499,7 +506,7 @@ ACCELSIM::init()

 	/* measurement will have generated a report, publish */
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp,
-		&_accel_orb_class_instance, ORB_PRIO_DEFAULT);
+					   &_accel_orb_class_instance, ORB_PRIO_DEFAULT);

 	if (_accel_topic == nullptr) {
 		PX4_WARN("ADVERT ERR");
@@ -522,16 +529,20 @@ ACCELSIM::transfer(uint8_t *send, uint8_t *recv, unsigned len)
 	if (cmd & DIR_READ) {
 		// Get data from the simulator
 		Simulator *sim = Simulator::getInstance();
-		if (sim == NULL)
+
+		if (sim == NULL) {
 			return ENODEV;
+		}

 		// FIXME - not sure what interrupt status should be
 		recv[1] = 0;
+
 		// skip cmd and status bytes
 		if (cmd & ACC_READ) {
-			sim->getRawAccelReport(&recv[2], len-2);
+			sim->getRawAccelReport(&recv[2], len - 2);
+
 		} else if (cmd & MAG_READ) {
-			sim->getMagReport(&recv[2], len-2);
+			sim->getMagReport(&recv[2], len - 2);
 		}
 	}

@@ -546,8 +557,9 @@ ACCELSIM::read(device::file_t *filp, char *buffer, size_t buflen)
 	int ret = 0;

 	/* buffer must be large enough */
-	if (count < 1)
+	if (count < 1) {
 		return -ENOSPC;
+	}

 	/* if automatic measurement is enabled */
 	if (_call_accel_interval > 0) {
@@ -569,8 +581,9 @@ ACCELSIM::read(device::file_t *filp, char *buffer, size_t buflen)
 	measure();

 	/* measurement will have generated a report, copy it out */
-	if (_accel_reports->get(arb))
+	if (_accel_reports->get(arb)) {
 		ret = sizeof(*arb);
+	}

 	return ret;
 }
@@ -583,8 +596,9 @@ ACCELSIM::mag_read(device::file_t *filp, char *buffer, size_t buflen)
 	int ret = 0;

 	/* buffer must be large enough */
-	if (count < 1)
+	if (count < 1) {
 		return -ENOSPC;
+	}

 	/* if automatic measurement is enabled */
 	if (_call_mag_interval > 0) {
@@ -608,8 +622,9 @@ ACCELSIM::mag_read(device::file_t *filp, char *buffer, size_t buflen)
 	_mag->measure();

 	/* measurement will have generated a report, copy it out */
-	if (_mag_reports->get(mrb))
+	if (_mag_reports->get(mrb)) {
 		ret = sizeof(*mrb);
+	}

 	return ret;
 }
@@ -620,7 +635,7 @@ ACCELSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	switch (cmd) {

 	case SENSORIOCSPOLLRATE: {
-		switch (arg) {
+			switch (arg) {

 			/* switching to manual polling */
 			case SENSOR_POLLRATE_MANUAL:
@@ -642,52 +657,56 @@ ACCELSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 			case SENSOR_POLLRATE_DEFAULT:
 				return ioctl(filp, SENSORIOCSPOLLRATE, ACCELSIM_ACCEL_DEFAULT_RATE);

-				/* adjust to a legal polling interval in Hz */
+			/* adjust to a legal polling interval in Hz */
 			default: {
-				/* do we need to start internal polling? */
-				bool want_start = (_call_accel_interval == 0);
+					/* do we need to start internal polling? */
+					bool want_start = (_call_accel_interval == 0);

-				/* convert hz to hrt interval via microseconds */
-				unsigned period = 1000000 / arg;
+					/* convert hz to hrt interval via microseconds */
+					unsigned period = 1000000 / arg;

-				/* check against maximum sane rate */
-				if (period < 500)
-					return -EINVAL;
+					/* check against maximum sane rate */
+					if (period < 500) {
+						return -EINVAL;
+					}

-				/* adjust filters */
-				accel_set_driver_lowpass_filter((float)arg, _accel_filter_x.get_cutoff_freq());
+					/* adjust filters */
+					accel_set_driver_lowpass_filter((float)arg, _accel_filter_x.get_cutoff_freq());

-				/* update interval for next measurement */
-				/* XXX this is a bit shady, but no other way to adjust... */
-				_accel_call.period = _call_accel_interval = period;
+					/* update interval for next measurement */
+					/* XXX this is a bit shady, but no other way to adjust... */
+					_accel_call.period = _call_accel_interval = period;

-				/* if we need to start the poll state machine, do it */
-				if (want_start)
-					start();
+					/* if we need to start the poll state machine, do it */
+					if (want_start) {
+						start();
+					}

-				return OK;
+					return OK;
+				}
 			}
 		}
-	}

 	case SENSORIOCGPOLLRATE:
-		if (_call_accel_interval == 0)
+		if (_call_accel_interval == 0) {
 			return SENSOR_POLLRATE_MANUAL;
+		}

 		return 1000000 / _call_accel_interval;

 	case SENSORIOCSQUEUEDEPTH: {
-		/* lower bound is mandatory, upper bound is a sanity check */
-		if ((arg < 1) || (arg > 100))
-			return -EINVAL;
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100)) {
+				return -EINVAL;
+			}

-		if (!_accel_reports->resize(arg)) {
-			return -ENOMEM;
+			if (!_accel_reports->resize(arg)) {
+				return -ENOMEM;
+			}
+
+			return OK;
 		}

-		return OK;
-	}
-
 	case SENSORIOCGQUEUEDEPTH:
 		return _accel_reports->size();

@@ -702,20 +721,22 @@ ACCELSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		return _accel_samplerate;

 	case ACCELIOCSLOWPASS: {
-		return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg);
-	}
+			return accel_set_driver_lowpass_filter((float)_accel_samplerate, (float)arg);
+		}

 	case ACCELIOCSSCALE: {
-		/* copy scale, but only if off by a few percent */
-		struct accel_scale *s = (struct accel_scale *) arg;
-		float sum = s->x_scale + s->y_scale + s->z_scale;
-		if (sum > 2.0f && sum < 4.0f) {
-			memcpy(&_accel_scale, s, sizeof(_accel_scale));
-			return OK;
-		} else {
-			return -EINVAL;
+			/* copy scale, but only if off by a few percent */
+			struct accel_scale *s = (struct accel_scale *) arg;
+			float sum = s->x_scale + s->y_scale + s->z_scale;
+
+			if (sum > 2.0f && sum < 4.0f) {
+				memcpy(&_accel_scale, s, sizeof(_accel_scale));
+				return OK;
+
+			} else {
+				return -EINVAL;
+			}
 		}
-	}

 	case ACCELIOCSRANGE:
 		/* arg needs to be in G */
@@ -723,7 +744,7 @@ ACCELSIM::ioctl(device::file_t *filp, int cmd, unsigned long arg)

 	case ACCELIOCGRANGE:
 		/* convert to m/s^2 and return rounded in G */
-		return (unsigned long)((_accel_range_m_s2)/ACCELSIM_ONE_G + 0.5f);
+		return (unsigned long)((_accel_range_m_s2) / ACCELSIM_ONE_G + 0.5f);

 	case ACCELIOCGSCALE:
 		/* copy scale out */
@@ -745,7 +766,7 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 	switch (cmd) {

 	case SENSORIOCSPOLLRATE: {
-		switch (arg) {
+			switch (arg) {

 			/* switching to manual polling */
 			case SENSOR_POLLRATE_MANUAL:
@@ -775,8 +796,9 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 					unsigned period = 1000000 / arg;

 					/* check against maximum sane rate (1ms) */
-					if (period < 10000)
+					if (period < 10000) {
 						return -EINVAL;
+					}

 					/* update interval for next measurement */
 					/* XXX this is a bit shady, but no other way to adjust... */
@@ -785,8 +807,9 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 					//PX4_INFO("SET _call_mag_interval=%u", _call_mag_interval);

 					/* if we need to start the poll state machine, do it */
-					if (want_start)
+					if (want_start) {
 						start();
+					}

 					return OK;
 				}
@@ -794,23 +817,25 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 		}

 	case SENSORIOCGPOLLRATE:
-		if (_call_mag_interval == 0)
+		if (_call_mag_interval == 0) {
 			return SENSOR_POLLRATE_MANUAL;
+		}

 		return 1000000 / _call_mag_interval;

 	case SENSORIOCSQUEUEDEPTH: {
-		/* lower bound is mandatory, upper bound is a sanity check */
-		if ((arg < 1) || (arg > 100))
-			return -EINVAL;
+			/* lower bound is mandatory, upper bound is a sanity check */
+			if ((arg < 1) || (arg > 100)) {
+				return -EINVAL;
+			}

-		if (!_mag_reports->resize(arg)) {
-			return -ENOMEM;
+			if (!_mag_reports->resize(arg)) {
+				return -ENOMEM;
+			}
+
+			return OK;
 		}

-		return OK;
-	}
-
 	case SENSORIOCGQUEUEDEPTH:
 		return _mag_reports->size();

@@ -854,6 +879,7 @@ ACCELSIM::mag_ioctl(device::file_t *filp, int cmd, unsigned long arg)

 	case MAGIOCSELFTEST:
 		return OK;
+
 	default:
 		/* give it to the superclass */
 		return VDev::ioctl(filp, cmd, arg);
@@ -888,7 +914,8 @@ void
 ACCELSIM::write_checked_reg(unsigned reg, uint8_t value)
 {
 	write_reg(reg, value);
-	for (uint8_t i=0; i<ACCELSIM_NUM_CHECKED_REGISTERS; i++) {
+
+	for (uint8_t i = 0; i < ACCELSIM_NUM_CHECKED_REGISTERS; i++) {
 		if (reg == _checked_registers[i]) {
 			_checked_values[i] = value;
 		}
@@ -1053,9 +1080,9 @@ ACCELSIM::measure()
 	// register reads and bad values. This allows the higher level
 	// code to decide if it should use this sensor based on
 	// whether it has had failures
-        accel_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
+	accel_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);

-	accel_report.x_raw = (int16_t)(raw_accel_report.x/_accel_range_scale);
+	accel_report.x_raw = (int16_t)(raw_accel_report.x / _accel_range_scale);
 	accel_report.y_raw = (int16_t)(raw_accel_report.y / _accel_range_scale);
 	accel_report.z_raw = (int16_t)(raw_accel_report.z / _accel_range_scale);

@@ -1157,7 +1184,7 @@ ACCELSIM::mag_measure()
 	memset(&raw_mag_report, 0, sizeof(raw_mag_report));
 	raw_mag_report.cmd = DIR_READ | MAG_READ;

-	if(OK != transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report))) {
+	if (OK != transfer((uint8_t *)&raw_mag_report, (uint8_t *)&raw_mag_report, sizeof(raw_mag_report))) {
 		return;
 	}

@@ -1234,8 +1261,9 @@ ACCELSIM_mag::ACCELSIM_mag(ACCELSIM *parent) :

 ACCELSIM_mag::~ACCELSIM_mag()
 {
-	if (_mag_class_instance != -1)
+	if (_mag_class_instance != -1) {
 		unregister_class_devname(MAG_BASE_DEVICE_PATH, _mag_class_instance);
+	}
 }

 int
@@ -1244,8 +1272,10 @@ ACCELSIM_mag::init()
 	int ret;

 	ret = VDev::init();
-	if (ret != OK)
+
+	if (ret != OK) {
 		goto out;
+	}

 	_mag_class_instance = register_class_devname(MAG_BASE_DEVICE_PATH);

@@ -1269,11 +1299,12 @@ int
 ACCELSIM_mag::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 {
 	switch (cmd) {
-		case DEVIOCGDEVICEID:
-			return (int)VDev::ioctl(filp, cmd, arg);
-			break;
-		default:
-			return _parent->mag_ioctl(filp, cmd, arg);
+	case DEVIOCGDEVICEID:
+		return (int)VDev::ioctl(filp, cmd, arg);
+		break;
+
+	default:
+		return _parent->mag_ioctl(filp, cmd, arg);
 	}
 }

@@ -1311,8 +1342,9 @@ int
 start(enum Rotation rotation)
 {
 	int fd, fd_mag;
+
 	if (g_dev != nullptr) {
-		PX4_WARN( "already started");
+		PX4_WARN("already started");
 		return 0;
 	}

@@ -1339,7 +1371,7 @@ start(enum Rotation rotation)

 	if (px4_ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_ACCEL);
-        	px4_close(fd);
+		px4_close(fd);
 		goto fail;
 	}

@@ -1350,14 +1382,13 @@ start(enum Rotation rotation)
 		if (px4_ioctl(fd_mag, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 			PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_ACCEL);
 		}
-	}
-	else
-	{
+
+	} else {
 		PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_ACCEL);
 	}

-        px4_close(fd);
-        px4_close(fd_mag);
+	px4_close(fd);
+	px4_close(fd_mag);

 	return 0;
 fail:
@@ -1405,7 +1436,7 @@ accelsim_main(int argc, char *argv[])
 	enum Rotation rotation = ROTATION_NONE;
 	int ret;
 	int myoptind = 1;
-	const char * myoptarg = NULL;
+	const char *myoptarg = NULL;

 	/* jump over start/off/etc and look at options first */
 	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
@@ -1413,6 +1444,7 @@ accelsim_main(int argc, char *argv[])
 		case 'R':
 			rotation = (enum Rotation)atoi(myoptarg);
 			break;
+
 		default:
 			accelsim::usage();
 			return 0;
@@ -1424,18 +1456,21 @@ accelsim_main(int argc, char *argv[])
 	/*
 	 * Start/load the driver.
 	 */
-	if (!strcmp(verb, "start"))
+	if (!strcmp(verb, "start")) {
 		ret = accelsim::start(rotation);
+	}

 	/*
 	 * Print driver information.
 	 */
-	else if (!strcmp(verb, "info"))
+	else if (!strcmp(verb, "info")) {
 		ret = accelsim::info();
+	}

 	else {
 		accelsim::usage();
 		return 1;
 	}
+
 	return ret;
 }