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Code format fixes

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-02-19 16:59:42 +01:00
committed by Julian Oes
parent d6a99c79c1
commit 5846a22a8f
11 changed files with 284 additions and 238 deletions
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src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
+1 -1
View File
@@ -50,7 +50,7 @@ KraitRpcWrapper::~KraitRpcWrapper() {}
* Initiatizes the rpc channel px4 muorb
*/
bool KraitRpcWrapper::Initialize()
{
{
return (px4muorb_orb_initialize() == 0);
}
src/modules/muorb/krait/px4muorb_KraitRpcWrapper.hpp
+28 -28
View File
@@ -31,41 +31,41 @@
namespace px4muorb
{
class KraitRpcWrapper;
class KraitRpcWrapper;
}
class px4muorb::KraitRpcWrapper
{
public:
/**
* Constructor
*/
KraitRpcWrapper();
/**
* destructor
*/
~KraitRpcWrapper();
/**
* Constructor
*/
KraitRpcWrapper();
/**
* Initiatizes the rpc channel px4 muorb
*/
bool Initialize();
/**
* destructor
*/
~KraitRpcWrapper();
/**
* Terminate to clean up the resources. This should be called at program exit
*/
bool Terminate();
/**
* Initiatizes the rpc channel px4 muorb
*/
bool Initialize();
/**
* Muorb related functions to pub/sub of orb topic from krait to adsp
*/
int32_t AddSubscriber( const char* topic );
int32_t RemoveSubscriber( const char* topic );
int32_t SendData( const char* topic, int32_t length_in_bytes, const uint8_t* data );
int32_t ReceiveData( int32_t* msg_type, char** topic, int32_t* length_in_bytes, uint8_t** data );
int32_t IsSubscriberPresent( const char* topic, int32_t* status );
int32_t ReceiveBulkData( uint8_t** bulk_data, int32_t* length_in_bytes, int32_t* topic_count );
int32_t UnblockReceiveData();
/**
* Terminate to clean up the resources. This should be called at program exit
*/
bool Terminate();
/**
* Muorb related functions to pub/sub of orb topic from krait to adsp
*/
int32_t AddSubscriber(const char *topic);
int32_t RemoveSubscriber(const char *topic);
int32_t SendData(const char *topic, int32_t length_in_bytes, const uint8_t *data);
int32_t ReceiveData(int32_t *msg_type, char **topic, int32_t *length_in_bytes, uint8_t **data);
int32_t IsSubscriberPresent(const char *topic, int32_t *status);
int32_t ReceiveBulkData(uint8_t **bulk_data, int32_t *length_in_bytes, int32_t *topic_count);
int32_t UnblockReceiveData();
};
#endif // _px4muorb_KraitWrapper_hpp_
src/modules/systemlib/param/param_shmem.c
+39 -24
View File
@@ -114,22 +114,23 @@ const int bits_per_allocation_unit = (sizeof(*param_changed_storage) * 8);
extern int get_shmem_lock(void);
extern void release_shmem_lock(void);
struct param_wbuf_s * param_find_changed(param_t param);
struct param_wbuf_s *param_find_changed(param_t param);
void init_params(void);
extern void init_shared_memory(void);
extern void copy_params_to_shmem(struct param_info_s *param_info_base);
extern struct shmem_info* shmem_info_p;
uint64_t sync_other_prev_time=0, sync_other_current_time=0;
extern struct shmem_info *shmem_info_p;
uint64_t sync_other_prev_time = 0, sync_other_current_time = 0;
extern void update_to_shmem(param_t param, union param_value_u value);
extern int update_from_shmem(param_t param, union param_value_u *value);
static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes);
unsigned char set_called_from_get=0;
unsigned char set_called_from_get = 0;
static int param_import_done=0; /*at startup, params are loaded from file, if present. we dont want to send notifications that time since muorb is not ready*/
static int param_import_done =
0; /*at startup, params are loaded from file, if present. we dont want to send notifications that time since muorb is not ready*/
static int param_load_default_no_notify(void);
@@ -508,16 +509,16 @@ param_get(param_t param, void *val)
param_lock();
if(!handle_in_range(param))
if (!handle_in_range(param)) {
return result;
}
union param_value_u value;
if(update_from_shmem(param, &value))
{
set_called_from_get=1;
if (update_from_shmem(param, &value)) {
set_called_from_get = 1;
param_set_internal(param, &value, true, false);
set_called_from_get=0;
set_called_from_get = 0;
}
@@ -529,9 +530,13 @@ param_get(param_t param, void *val)
}
#ifdef ENABLE_SHMEM_DEBUG
if(param_type(param)==PARAM_TYPE_INT32) { PX4_INFO("param_get for %s : %d\n", param_name(param), *(int*)val); }
else if(param_type(param)==PARAM_TYPE_FLOAT) { PX4_INFO("param_get for %s : %f\n", param_name(param), *(double*)val); }
if (param_type(param) == PARAM_TYPE_INT32) { PX4_INFO("param_get for %s : %d\n", param_name(param), *(int *)val); }
else if (param_type(param) == PARAM_TYPE_FLOAT) { PX4_INFO("param_get for %s : %f\n", param_name(param), *(double *)val); }
else { PX4_INFO("Unknown param type for %s\n", param_name(param)); }
#endif
param_unlock();
@@ -547,8 +552,9 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
param_lock();
if(!handle_in_range(param))
if (!handle_in_range(param)) {
return result;
}
mark_saved = true; //mark all params as saved
@@ -623,19 +629,24 @@ out:
* a thing has been set.
*/
if(!param_import_done) notify_changes=0;
if (!param_import_done) { notify_changes = 0; }
if (params_changed && notify_changes) {
param_notify_changes();
}
if(result==0 && !set_called_from_get)
update_to_shmem(param, *(union param_value_u*)val);
if (result == 0 && !set_called_from_get) {
update_to_shmem(param, *(union param_value_u *)val);
}
#ifdef ENABLE_SHMEM_DEBUG
if(param_type(param)==PARAM_TYPE_INT32) {PX4_INFO("param_set for %s : %d\n", param_name(param), *(int*)val);}
else if(param_type(param)==PARAM_TYPE_FLOAT) {PX4_INFO("param_set for %s : %f\n", param_name(param), *(double*)val);}
if (param_type(param) == PARAM_TYPE_INT32) {PX4_INFO("param_set for %s : %d\n", param_name(param), *(int *)val);}
else if (param_type(param) == PARAM_TYPE_FLOAT) {PX4_INFO("param_set for %s : %f\n", param_name(param), *(double *)val);}
else {PX4_INFO("Unknown param type for %s\n", param_name(param));}
#endif
return result;
@@ -794,10 +805,10 @@ param_save_default(void)
const char *filename = param_get_default_file();
if(get_shmem_lock()!=0) {
if (get_shmem_lock() != 0) {
PX4_ERR("Could not get shmem lock\n");
return 0;
}
}
fd = PARAM_OPEN(filename, O_WRONLY | O_CREAT, PX4_O_MODE_666);
@@ -858,15 +869,16 @@ param_load_default(void)
static int
param_load_default_no_notify(void)
{
if(get_shmem_lock()!=0) {
if (get_shmem_lock() != 0) {
PX4_ERR("Could not get shmem lock\n");
return 0;
}
}
int fd_load = open(param_get_default_file(), O_RDONLY);
if (fd_load < 0) {
release_shmem_lock();
/* no parameter file is OK, otherwise this is an error */
if (errno != ENOENT) {
debug("open '%s' for reading failed", param_get_default_file());
@@ -1185,14 +1197,17 @@ void init_params(void)
#ifdef __PX4_POSIX
param_load_default_no_notify();
#endif
param_import_done=1;
param_import_done = 1;
copy_params_to_shmem(param_info_base);
#ifdef ENABLE_SHMEM_DEBUG
PX4_INFO("Offsets: \n");
PX4_INFO("params_val %lu, krait_changed %lu, adsp_changed %lu\n", (unsigned char*)shmem_info_p->params_val - (unsigned char*)shmem_info_p, (unsigned char*)&shmem_info_p->krait_changed_index - (unsigned char*)shmem_info_p, (unsigned char*)&shmem_info_p->adsp_changed_index - (unsigned char*)shmem_info_p);
PX4_INFO("params_val %lu, krait_changed %lu, adsp_changed %lu\n",
(unsigned char *)shmem_info_p->params_val - (unsigned char *)shmem_info_p,
(unsigned char *)&shmem_info_p->krait_changed_index - (unsigned char *)shmem_info_p,
(unsigned char *)&shmem_info_p->adsp_changed_index - (unsigned char *)shmem_info_p);
#endif
}