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Fixed formating and cleanup

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This commit is contained in:
blah
2016-03-14 09:07:46 +01:00
committed by Lorenz Meier
parent 147606a399
commit 1188aa138c
4 changed files with 73 additions and 58 deletions
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src/modules/uavcan/uavcan_main.cpp
+24 -21
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@@ -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) {