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mavlink: code style fixed

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This commit is contained in:
Anton Babushkin
2014-03-21 20:06:34 +04:00
parent b1e59f37fe
commit 1c49d768fb
2 changed files with 68 additions and 63 deletions
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src/modules/mavlink/mavlink_main.cpp
+31 -10
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@@ -151,8 +151,9 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
}
/* no valid instance, bail */
if (!instance)
if (!instance) {
return;
}
int uart = instance->get_uart_fd();
@@ -165,12 +166,12 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
int buf_free = 0;
if (instance->get_flow_control_enabled()
&& ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
&& ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
if (buf_free == 0) {
if (last_write_times[(unsigned)channel] != 0 &&
hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500*1000UL) {
hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) {
warnx("DISABLING HARDWARE FLOW CONTROL");
instance->enable_flow_control(false);
@@ -225,30 +226,37 @@ Mavlink::Mavlink() :
case 0:
_channel = MAVLINK_COMM_0;
break;
case 1:
_channel = MAVLINK_COMM_1;
break;
case 2:
_channel = MAVLINK_COMM_2;
break;
case 3:
_channel = MAVLINK_COMM_3;
break;
#ifdef MAVLINK_COMM_4
case 4:
_channel = MAVLINK_COMM_4;
break;
#endif
#ifdef MAVLINK_COMM_5
case 5:
case 5:
_channel = MAVLINK_COMM_5;
break;
#endif
#ifdef MAVLINK_COMM_6
case 6:
_channel = MAVLINK_COMM_6;
break;
#endif
default:
errx(1, "instance ID is out of range");
break;
@@ -279,6 +287,7 @@ Mavlink::~Mavlink()
}
} while (_task_running);
}
LL_DELETE(_mavlink_instances, this);
}
@@ -604,12 +613,16 @@ Mavlink::enable_flow_control(bool enabled)
}
struct termios uart_config;
int ret = tcgetattr(_uart_fd, &uart_config);
if (enabled) {
uart_config.c_cflag |= CRTSCTS;
} else {
uart_config.c_cflag &= ~CRTSCTS;
}
ret = tcsetattr(_uart_fd, TCSANOW, &uart_config);
if (!ret) {
@@ -1652,6 +1665,7 @@ Mavlink::task_main(int argc, char *argv[])
case 'm':
if (strcmp(optarg, "custom") == 0) {
_mode = MAVLINK_MODE_CUSTOM;
} else if (strcmp(optarg, "camera") == 0) {
_mode = MAVLINK_MODE_CAMERA;
}
@@ -1973,6 +1987,7 @@ Mavlink::start(int argc, char *argv[])
const unsigned limit = 100 * 1000 / sleeptime;
unsigned count = 0;
while (ic == Mavlink::instance_count() && count < limit) {
::usleep(sleeptime);
count++;
@@ -2003,20 +2018,26 @@ Mavlink::stream(int argc, char *argv[])
bool err_flag = false;
int i = 0;
while (i < argc) {
if (0 == strcmp(argv[i], "-r") && i < argc - 1 ) {
rate = strtod(argv[i+1], nullptr);
if (0 == strcmp(argv[i], "-r") && i < argc - 1) {
rate = strtod(argv[i + 1], nullptr);
if (rate < 0.0f) {
err_flag = true;
}
i++;
} else if (0 == strcmp(argv[i], "-d") && i < argc - 1 ) {
device_name = argv[i+1];
} else if (0 == strcmp(argv[i], "-d") && i < argc - 1) {
device_name = argv[i + 1];
i++;
} else if (0 == strcmp(argv[i], "-s") && i < argc - 1 ) {
stream_name = argv[i+1];
} else if (0 == strcmp(argv[i], "-s") && i < argc - 1) {
stream_name = argv[i + 1];
i++;
} else {
err_flag = true;
}