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Whitespace formatting in mavlink_main.cpp/h and begin work of some variable initialization at declaration in mavlink_main.h.

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This commit is contained in:
mcsauder
2019-03-09 13:32:26 -05:00
committed by Daniel Agar
parent a8808cc5cd
commit 7b3482adf0
2 changed files with 49 additions and 52 deletions
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src/modules/mavlink/mavlink_main.cpp
+11 -15
View File
@@ -162,16 +162,11 @@ bool Mavlink::_boot_complete = false;
Mavlink::Mavlink() :
ModuleParams(nullptr),
_device_name("/dev/ttyS1"),
_task_should_exit(false),
next(nullptr),
_instance_id(0),
_transmitting_enabled(true),
_transmitting_enabled_commanded(false),
_mavlink_log_pub(nullptr),
_task_running(false),
_mavlink_buffer{},
_mavlink_status{},
_hil_enabled(false),
_generate_rc(false),
_is_usb_uart(false),
@@ -221,10 +216,6 @@ Mavlink::Mavlink() :
_protocol(SERIAL),
_network_port(14556),
_remote_port(DEFAULT_REMOTE_PORT_UDP),
_message_buffer {},
_message_buffer_mutex {},
_send_mutex {},
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
_loop_interval_perf(perf_alloc(PC_INTERVAL, "mavlink_int"))
@@ -316,7 +307,8 @@ Mavlink::~Mavlink()
}
}
void Mavlink::mavlink_update_parameters()
void
Mavlink::mavlink_update_parameters()
{
updateParams();
@@ -352,7 +344,7 @@ Mavlink::set_proto_version(unsigned version)
int
Mavlink::instance_count()
{
unsigned inst_index = 0;
size_t inst_index = 0;
Mavlink *inst;
LL_FOREACH(::_mavlink_instances, inst) {
@@ -549,7 +541,8 @@ Mavlink::get_uart_fd(unsigned index)
return -1;
}
int Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_control)
int
Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_control)
{
#ifndef B460800
#define B460800 460800
@@ -1219,7 +1212,8 @@ Mavlink::send_statustext_emergency(const char *string)
mavlink_log_emergency(&_mavlink_log_pub, "%s", string);
}
void Mavlink::send_autopilot_capabilites()
void
Mavlink::send_autopilot_capabilites()
{
struct vehicle_status_s status;
@@ -1282,7 +1276,8 @@ void Mavlink::send_autopilot_capabilites()
}
}
void Mavlink::send_protocol_version()
void
Mavlink::send_protocol_version()
{
mavlink_protocol_version_t msg = {};
@@ -1303,7 +1298,8 @@ void Mavlink::send_protocol_version()
set_proto_version(curr_proto_ver);
}
MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic, int instance, bool disable_sharing)
MavlinkOrbSubscription *
Mavlink::add_orb_subscription(const orb_id_t topic, int instance, bool disable_sharing)
{
if (!disable_sharing) {
/* check if already subscribed to this topic */
src/modules/mavlink/mavlink_main.h
+38 -37
View File
@@ -112,7 +112,7 @@ public:
/**
* Start the mavlink task.
*
* @return OK on success.
* @return OK on success.
*/
static int start(int argc, char *argv[]);
@@ -166,18 +166,18 @@ public:
/**
* Get the MAVLink system id.
*
* @return The system ID of this vehicle
* @return The system ID of this vehicle
*/
int get_system_id() const { return mavlink_system.sysid; }
/**
* Get the MAVLink component id.
*
* @return The component ID of this vehicle
* @return The component ID of this vehicle
*/
int get_component_id() const { return mavlink_system.compid; }
const char *_device_name;
const char *_device_name{DEFAULT_DEVICE_NAME};
enum MAVLINK_MODE {
MAVLINK_MODE_NORMAL = 0,
@@ -454,9 +454,9 @@ public:
int get_socket_fd() { return _socket_fd; };
#ifdef __PX4_POSIX
const in_addr query_netmask_addr(const int socket_fd, const ifreq &ifreq);
const in_addr query_netmask_addr(const int socket_fd, const ifreq &ifreq);
const in_addr compute_broadcast_addr(const in_addr &host_addr, const in_addr &netmask_addr);
const in_addr compute_broadcast_addr(const in_addr &host_addr, const in_addr &netmask_addr);
#endif
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
@@ -524,7 +524,7 @@ public:
struct ping_statistics_s &get_ping_statistics() { return _ping_stats; }
protected:
Mavlink *next;
Mavlink *next{nullptr};
private:
int _instance_id;
@@ -535,14 +535,15 @@ private:
orb_advert_t _mavlink_log_pub{nullptr};
orb_advert_t _telem_status_pub{nullptr};
bool _task_running;
bool _task_running{false};
static bool _boot_complete;
static constexpr int MAVLINK_MAX_INSTANCES = 4;
static constexpr int MAVLINK_MIN_INTERVAL = 1500;
static constexpr int MAVLINK_MAX_INTERVAL = 10000;
static constexpr float MAVLINK_MIN_MULTIPLIER = 0.0005f;
mavlink_message_t _mavlink_buffer;
mavlink_status_t _mavlink_status;
static constexpr int MAVLINK_MAX_INSTANCES{4};
static constexpr int MAVLINK_MIN_INTERVAL{1500};
static constexpr int MAVLINK_MAX_INTERVAL{10000};
static constexpr float MAVLINK_MIN_MULTIPLIER{0.0005f};
mavlink_message_t _mavlink_buffer {};
mavlink_status_t _mavlink_status {};
/* states */
bool _hil_enabled; /**< Hardware In the Loop mode */
@@ -564,7 +565,7 @@ private:
mavlink_channel_t _channel;
ringbuffer::RingBuffer _logbuffer;
ringbuffer::RingBuffer _logbuffer;
pthread_t _receive_thread;
@@ -590,9 +591,9 @@ private:
bool mavlink_link_termination_allowed;
char *_subscribe_to_stream;
char *_subscribe_to_stream;
float _subscribe_to_stream_rate; ///< rate of stream to subscribe to (0=disable, -1=unlimited, -2=default)
bool _udp_initialised;
bool _udp_initialised;
enum FLOW_CONTROL_MODE _flow_control_mode;
uint64_t _last_write_success_time;
@@ -607,23 +608,23 @@ private:
uint64_t _bytes_timestamp;
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
struct sockaddr_in _myaddr;
struct sockaddr_in _src_addr;
struct sockaddr_in _bcast_addr;
bool _src_addr_initialized;
bool _broadcast_address_found;
bool _broadcast_address_not_found_warned;
bool _broadcast_failed_warned;
uint8_t _network_buf[MAVLINK_MAX_PACKET_LEN];
unsigned _network_buf_len;
struct sockaddr_in _myaddr;
struct sockaddr_in _src_addr;
struct sockaddr_in _bcast_addr;
bool _src_addr_initialized;
bool _broadcast_address_found;
bool _broadcast_address_not_found_warned;
bool _broadcast_failed_warned;
uint8_t _network_buf[MAVLINK_MAX_PACKET_LEN];
unsigned _network_buf_len;
#endif
const char *_interface_name;
const char *_interface_name;
int _socket_fd;
Protocol _protocol;
unsigned short _network_port;
unsigned short _remote_port;
int _socket_fd;
Protocol _protocol;
unsigned short _network_port;
unsigned short _remote_port;
radio_status_s _rstatus{};
telemetry_status_s _tstatus{};
@@ -637,10 +638,10 @@ private:
char *data;
};
mavlink_message_buffer _message_buffer;
mavlink_message_buffer _message_buffer {};
pthread_mutex_t _message_buffer_mutex;
pthread_mutex_t _send_mutex;
pthread_mutex_t _message_buffer_mutex {};
pthread_mutex_t _send_mutex {};
DEFINE_PARAMETERS(
(ParamInt<px4::params::MAV_SYS_ID>) _param_system_id,
@@ -721,7 +722,7 @@ private:
*/
int task_main(int argc, char *argv[]);
/* do not allow copying this class */
Mavlink(const Mavlink &);
Mavlink operator=(const Mavlink &);
// Disallow copy construction and move assignment.
Mavlink(const Mavlink &) = delete;
Mavlink operator=(const Mavlink &) = delete;
};