From 41a145424b4327733f9e66895395861ed3bb60e4 Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Mon, 24 Mar 2014 23:17:05 +0400 Subject: [PATCH] Style fixes --- .../include/uavcan/marshal/bit_stream.hpp | 8 +- libuavcan/src/marshal/bit_array_copy.cpp | 86 ++++++++++--------- libuavcan/src/transport/transfer_buffer.cpp | 7 +- libuavcan/src/transport/transfer_receiver.cpp | 12 +-- 4 files changed, 58 insertions(+), 55 deletions(-) diff --git a/libuavcan/include/uavcan/marshal/bit_stream.hpp b/libuavcan/include/uavcan/marshal/bit_stream.hpp index 9951ff8a05..7df928274b 100644 --- a/libuavcan/include/uavcan/marshal/bit_stream.hpp +++ b/libuavcan/include/uavcan/marshal/bit_stream.hpp @@ -14,7 +14,7 @@ namespace uavcan class ITransferBuffer; -void bitarray_copy(const unsigned char *src_org, int src_offset, int src_len, unsigned char *dst_org, int dst_offset); +void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, unsigned char* dst_org, int dst_offset); class BitStream { @@ -27,10 +27,10 @@ class BitStream static inline unsigned int bitlenToBytelen(unsigned int bits) { return (bits + 7) / 8; } static inline void copyBitArray(const uint8_t* src_org, int src_offset, int src_len, - uint8_t* dst_org, int dst_offset) + uint8_t* dst_org, int dst_offset) { - bitarray_copy(reinterpret_cast(src_org), src_offset, src_len, - reinterpret_cast(dst_org), dst_offset); + bitarrayCopy(reinterpret_cast(src_org), src_offset, src_len, + reinterpret_cast(dst_org), dst_offset); } public: diff --git a/libuavcan/src/marshal/bit_array_copy.cpp b/libuavcan/src/marshal/bit_array_copy.cpp index 61671283d2..a974602574 100644 --- a/libuavcan/src/marshal/bit_array_copy.cpp +++ b/libuavcan/src/marshal/bit_array_copy.cpp @@ -22,22 +22,17 @@ namespace uavcan { -void -bitarray_copy(const unsigned char *src_org, int src_offset, int src_len, - unsigned char *dst_org, int dst_offset) +void bitarrayCopy(const unsigned char* src_org, int src_offset, int src_len, unsigned char* dst_org, int dst_offset) { - using namespace std; + static const unsigned char reverse_mask[] = { 0x55, 0x80, 0xc0, 0xe0, 0xf0, 0xf8, 0xfc, 0xfe, 0xff }; + static const unsigned char reverse_mask_xor[] = { 0xff, 0x7f, 0x3f, 0x1f, 0x0f, 0x07, 0x03, 0x01, 0x00 }; - static const unsigned char reverse_mask[] = - { 0x55, 0x80, 0xc0, 0xe0, 0xf0, 0xf8, 0xfc, 0xfe, 0xff }; - static const unsigned char reverse_mask_xor[] = - { 0xff, 0x7f, 0x3f, 0x1f, 0x0f, 0x07, 0x03, 0x01, 0x00 }; - - if (src_len > 0) { - const unsigned char *src; - unsigned char *dst; - int src_offset_modulo, - dst_offset_modulo; + if (src_len > 0) + { + const unsigned char* src; + unsigned char* dst; + int src_offset_modulo; + int dst_offset_modulo; src = src_org + (src_offset / CHAR_BIT); dst = dst_org + (dst_offset / CHAR_BIT); @@ -45,14 +40,13 @@ bitarray_copy(const unsigned char *src_org, int src_offset, int src_len, src_offset_modulo = src_offset % CHAR_BIT; dst_offset_modulo = dst_offset % CHAR_BIT; - if (src_offset_modulo == dst_offset_modulo) { - int byte_len; - int src_len_modulo; - if (src_offset_modulo) { - unsigned char c; - - c = reverse_mask_xor[dst_offset_modulo] & *src++; - + if (src_offset_modulo == dst_offset_modulo) + { + int byte_len; + int src_len_modulo; + if (src_offset_modulo) + { + unsigned char c = reverse_mask_xor[dst_offset_modulo] & *src++; PREPARE_FIRST_COPY(); *dst++ |= c; } @@ -60,37 +54,43 @@ bitarray_copy(const unsigned char *src_org, int src_offset, int src_len, byte_len = src_len / CHAR_BIT; src_len_modulo = src_len % CHAR_BIT; - if (byte_len) { - memcpy(dst, src, byte_len); + if (byte_len) + { + std::memcpy(dst, src, byte_len); src += byte_len; dst += byte_len; } - if (src_len_modulo) { - *dst &= reverse_mask_xor[src_len_modulo]; - *dst |= reverse_mask[src_len_modulo] & *src; + if (src_len_modulo) + { + *dst &= reverse_mask_xor[src_len_modulo]; + *dst |= reverse_mask[src_len_modulo] & *src; } - } else { - int bit_diff_ls, - bit_diff_rs; - int byte_len; - int src_len_modulo; - unsigned char c; + } + else + { + int bit_diff_ls; + int bit_diff_rs; + int byte_len; + int src_len_modulo; + unsigned char c; /* * Begin: Line things up on destination. */ - if (src_offset_modulo > dst_offset_modulo) { + if (src_offset_modulo > dst_offset_modulo) + { bit_diff_ls = src_offset_modulo - dst_offset_modulo; bit_diff_rs = CHAR_BIT - bit_diff_ls; c = *src++ << bit_diff_ls; c |= *src >> bit_diff_rs; - c &= reverse_mask_xor[dst_offset_modulo]; - } else { + c &= reverse_mask_xor[dst_offset_modulo]; + } + else + { bit_diff_rs = dst_offset_modulo - src_offset_modulo; bit_diff_ls = CHAR_BIT - bit_diff_rs; - c = *src >> bit_diff_rs & - reverse_mask_xor[dst_offset_modulo]; + c = *src >> bit_diff_rs & reverse_mask_xor[dst_offset_modulo]; } PREPARE_FIRST_COPY(); *dst++ |= c; @@ -100,7 +100,8 @@ bitarray_copy(const unsigned char *src_org, int src_offset, int src_len, */ byte_len = src_len / CHAR_BIT; - while (--byte_len >= 0) { + while (--byte_len >= 0) + { c = *src++ << bit_diff_ls; c |= *src >> bit_diff_rs; *dst++ = c; @@ -110,12 +111,13 @@ bitarray_copy(const unsigned char *src_org, int src_offset, int src_len, * End: copy the remaing bits; */ src_len_modulo = src_len % CHAR_BIT; - if (src_len_modulo) { + if (src_len_modulo) + { c = *src++ << bit_diff_ls; c |= *src >> bit_diff_rs; - c &= reverse_mask[src_len_modulo]; + c &= reverse_mask[src_len_modulo]; - *dst &= reverse_mask_xor[src_len_modulo]; + *dst &= reverse_mask_xor[src_len_modulo]; *dst |= c; } } diff --git a/libuavcan/src/transport/transfer_buffer.cpp b/libuavcan/src/transport/transfer_buffer.cpp index c4357f74a7..acfed726a1 100644 --- a/libuavcan/src/transport/transfer_buffer.cpp +++ b/libuavcan/src/transport/transfer_buffer.cpp @@ -42,7 +42,7 @@ void DynamicTransferBufferManagerEntry::Block::destroy(Block*& obj, IAllocator& } void DynamicTransferBufferManagerEntry::Block::read(uint8_t*& outptr, unsigned int target_offset, - unsigned int& total_offset, unsigned int& left_to_read) + unsigned int& total_offset, unsigned int& left_to_read) { assert(outptr); for (int i = 0; (i < Block::Size) && (left_to_read > 0); i++, total_offset++) @@ -56,7 +56,7 @@ void DynamicTransferBufferManagerEntry::Block::read(uint8_t*& outptr, unsigned i } void DynamicTransferBufferManagerEntry::Block::write(const uint8_t*& inptr, unsigned int target_offset, - unsigned int& total_offset, unsigned int& left_to_write) + unsigned int& total_offset, unsigned int& left_to_write) { assert(inptr); for (int i = 0; (i < Block::Size) && (left_to_write > 0); i++, total_offset++) @@ -72,7 +72,8 @@ void DynamicTransferBufferManagerEntry::Block::write(const uint8_t*& inptr, unsi /* * DynamicTransferBuffer */ -DynamicTransferBufferManagerEntry* DynamicTransferBufferManagerEntry::instantiate(IAllocator& allocator, unsigned int max_size) +DynamicTransferBufferManagerEntry* DynamicTransferBufferManagerEntry::instantiate(IAllocator& allocator, + unsigned int max_size) { void* const praw = allocator.allocate(sizeof(DynamicTransferBufferManagerEntry)); if (praw == NULL) diff --git a/libuavcan/src/transport/transfer_receiver.cpp b/libuavcan/src/transport/transfer_receiver.cpp index 1f81934a3a..37c9d80dfd 100644 --- a/libuavcan/src/transport/transfer_receiver.cpp +++ b/libuavcan/src/transport/transfer_receiver.cpp @@ -87,10 +87,10 @@ bool TransferReceiver::writePayload(const RxFrame& frame, ITransferBuffer& buf) const uint8_t* const payload = frame.getPayloadPtr(); const int payload_len = frame.getPayloadLen(); - if (frame.isFirst()) // First frame contains CRC, we need to extract it now + if (frame.isFirst()) // First frame contains CRC, we need to extract it now { - if (frame.getPayloadLen() < TransferCRC::NumBytes) // Must have been validated earlier though. I think I'm paranoid. - return false; + if (frame.getPayloadLen() < TransferCRC::NumBytes) + return false; // Must have been validated earlier though. I think I'm paranoid. this_transfer_crc_ = (payload[0] & 0xFF) | (uint16_t(payload[1] & 0xFF) << 8); // Little endian. @@ -191,9 +191,9 @@ TransferReceiver::ResultCode TransferReceiver::addFrame(const RxFrame& frame, Tr if (need_restart) { UAVCAN_TRACE("TransferReceiver", - "Restart [not_inited=%i, iface_timeout=%i, recv_timeout=%i, same_iface=%i, first_frame=%i, tid_rel=%i], %s", - int(not_initialized), int(iface_timed_out), int(receiver_timed_out), int(same_iface), int(first_fame), - int(tid_rel), frame.toString().c_str()); + "Restart [not_inited=%i, iface_timeout=%i, recv_timeout=%i, same_iface=%i, first_frame=%i, tid_rel=%i], %s", + int(not_initialized), int(iface_timed_out), int(receiver_timed_out), int(same_iface), + int(first_fame), int(tid_rel), frame.toString().c_str()); tba.remove(); iface_index_ = frame.getIfaceIndex(); tid_ = frame.getTransferID();