From 4839e5cd19aed80b4cc65461ed9f5a6c105ba911 Mon Sep 17 00:00:00 2001
From: crossa <421395590@qq.com>
Date: Mon, 20 Feb 2017 15:03:01 +0800
Subject: [PATCH] Fix code style

---
 src/drivers/rpi_rc_in/rpi_rc_in.cpp | 41 ++++++++++++++++++-----------
 src/drivers/rpi_rc_in/rpi_rc_in.h   | 21 +++++++++------
 2 files changed, 39 insertions(+), 23 deletions(-)

diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.cpp b/src/drivers/rpi_rc_in/rpi_rc_in.cpp
index 501c9450e8..5b7fa3439b 100644
--- a/src/drivers/rpi_rc_in/rpi_rc_in.cpp
+++ b/src/drivers/rpi_rc_in/rpi_rc_in.cpp
@@ -36,16 +36,18 @@
 
 using namespace rpi_rc_in;
 //---------------------------------------------------------------------------------------------------------//
-int RcInput::rpi_rc_init() {
+int RcInput::rpi_rc_init()
+{
 	int i;
+
 	//--------------初始化共享内存映射----------------------------//
 	if ((this->shmid = shmget(this->key, sizeof(int) * this->_channels, 0666))
-			< 0) {
+	    < 0) {
 		PX4_WARN("无法访问共享内存");
 		return -1;
 	}
 
-	if ((this->mem = (int*) shmat(this->shmid, NULL, 0)) == (void *) -1) {
+	if ((this->mem = (int *) shmat(this->shmid, NULL, 0)) == (void *) - 1) {
 		PX4_WARN("无法映射共享内存");
 		return -1;
 	}
@@ -65,7 +67,8 @@ int RcInput::rpi_rc_init() {
 	return 0;
 }
 //---------------------------------------------------------------------------------------------------------//
-int RcInput::start() {
+int RcInput::start()
+{
 	int result = 0;
 
 	result = rpi_rc_init();
@@ -77,7 +80,7 @@ int RcInput::start() {
 
 	_isRunning = true;
 	result = work_queue(HPWORK, &_work, (worker_t) & RcInput::cycle_trampoline,
-			this, 0);
+			    this, 0);
 
 	if (result == -1) {
 		_isRunning = false;
@@ -86,30 +89,35 @@ int RcInput::start() {
 	return result;
 }
 //---------------------------------------------------------------------------------------------------------//
-void RcInput::stop() {
+void RcInput::stop()
+{
 	_shouldExit = true;
 }
 //---------------------------------------------------------------------------------------------------------//
-void RcInput::cycle_trampoline(void *arg) {
+void RcInput::cycle_trampoline(void *arg)
+{
 	RcInput *dev = reinterpret_cast<RcInput *>(arg);
 	dev->_cycle();
 }
 //---------------------------------------------------------------------------------------------------------//
-void RcInput::_cycle() {
+void RcInput::_cycle()
+{
 	_measure();
 
 	if (!_shouldExit) {
 		work_queue(HPWORK, &_work, (worker_t) & RcInput::cycle_trampoline, this,
-				USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
+			   USEC2TICK(RCINPUT_MEASURE_INTERVAL_US));
 	}
 }
 //---------------------------------------------------------------------------------------------------------//
-void RcInput::_measure(void) {
+void RcInput::_measure(void)
+{
 	uint64_t ts;
 	// PWM  数据发布
-	int i=0;
-	for(i=0;i<_channels;++i){
-		_data.values[i] = *(this->mem+i);
+	int i = 0;
+
+	for (i = 0; i < _channels; ++i) {
+		_data.values[i] = *(this->mem + i);
 	}
 
 	ts = hrt_absolute_time();
@@ -131,14 +139,17 @@ void RcInput::_measure(void) {
  * Print the correct usage.
  */
 
-static void rpi_rc_in::usage(const char *reason) {
+static void rpi_rc_in::usage(const char *reason)
+{
 	if (reason) {
 		PX4_ERR("%s", reason);
 	}
+
 	PX4_INFO("用法: rpi_rc_in {start|stop|status}");
 }
 //---------------------------------------------------------------------------------------------------------//
-int rpi_rc_in_main(int argc, char **argv) {
+int rpi_rc_in_main(int argc, char **argv)
+{
 	if (argc < 2) {
 		usage("missing command");
 		return 1;
diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.h b/src/drivers/rpi_rc_in/rpi_rc_in.h
index 5bc5b10daf..1835a144c4 100644
--- a/src/drivers/rpi_rc_in/rpi_rc_in.h
+++ b/src/drivers/rpi_rc_in/rpi_rc_in.h
@@ -50,19 +50,23 @@
 #include <uORB/uORB.h>
 #include <uORB/topics/input_rc.h>
 #define RCINPUT_MEASURE_INTERVAL_US 20000
-namespace rpi_rc_in {
-class RcInput {
+namespace rpi_rc_in
+{
+class RcInput
+{
 public:
 	int *mem;
 	key_t key;
 	int shmid;
 	RcInput() :
-			mem(nullptr),key(4096),shmid(0),_shouldExit(false), _isRunning(false), _work { }, _rcinput_pub(
-					nullptr), _channels(8),//D8R-II plus
-			_data { } {
+		mem(nullptr), key(4096), shmid(0), _shouldExit(false), _isRunning(false), _work { }, _rcinput_pub(
+			nullptr), _channels(8),//D8R-II plus
+		_data { }
+	{
 		//memset(_ch_fd, 0, sizeof(_ch_fd));
 	}
-	~RcInput() {
+	~RcInput()
+	{
 		this->mem = nullptr;
 		work_cancel(HPWORK, &_work);
 		_isRunning = false;
@@ -77,7 +81,8 @@ public:
 	/* Trampoline for the work queue. */
 	static void cycle_trampoline(void *arg);
 
-	bool isRunning() {
+	bool isRunning()
+	{
 		return _isRunning;
 	}
 
@@ -85,7 +90,7 @@ private:
 	void _cycle();
 	void _measure();
 
-	bool _shouldExit;bool _isRunning;
+	bool _shouldExit; bool _isRunning;
 	struct work_s _work;
 	orb_advert_t _rcinput_pub;
 	int _channels;