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uORB: Update code style

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This commit is contained in:
Lorenz Meier
2015-10-19 13:51:18 +02:00
parent af1fe6ab9b
commit c19c8a35b2
5 changed files with 121 additions and 110 deletions
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src/modules/uORB/Subscription.hpp
+20 -14
View File
@@ -65,9 +65,10 @@ public:
* between updates * between updates
*/ */
SubscriptionBase(const struct orb_metadata *meta, SubscriptionBase(const struct orb_metadata *meta,
unsigned interval=0) : unsigned interval = 0) :
_meta(meta), _meta(meta),
_handle() { _handle()
{
setHandle(orb_subscribe(getMeta())); setHandle(orb_subscribe(getMeta()));
orb_set_interval(getHandle(), interval); orb_set_interval(getHandle(), interval);
} }
@@ -75,7 +76,8 @@ public:
/** /**
* Check if there is a new update. * Check if there is a new update.
* */ * */
bool updated() { bool updated()
{
bool isUpdated = false; bool isUpdated = false;
orb_check(_handle, &isUpdated); orb_check(_handle, &isUpdated);
return isUpdated; return isUpdated;
@@ -85,7 +87,8 @@ public:
* Update the struct * Update the struct
* @param data The uORB message struct we are updating. * @param data The uORB message struct we are updating.
*/ */
void update(void * data) { void update(void *data)
{
if (updated()) { if (updated()) {
orb_copy(_meta, _handle, data); orb_copy(_meta, _handle, data);
} }
@@ -94,7 +97,8 @@ public:
/** /**
* Deconstructor * Deconstructor
*/ */
virtual ~SubscriptionBase() { virtual ~SubscriptionBase()
{
orb_unsubscribe(_handle); orb_unsubscribe(_handle);
} }
// accessors // accessors
@@ -108,9 +112,9 @@ protected:
int _handle; int _handle;
private: private:
// forbid copy // forbid copy
SubscriptionBase(const SubscriptionBase& other); SubscriptionBase(const SubscriptionBase &other);
// forbid assignment // forbid assignment
SubscriptionBase& operator = (const SubscriptionBase &); SubscriptionBase &operator = (const SubscriptionBase &);
}; };
/** /**
@@ -139,11 +143,12 @@ public:
* that this should be appended to. * that this should be appended to.
*/ */
SubscriptionNode(const struct orb_metadata *meta, SubscriptionNode(const struct orb_metadata *meta,
unsigned interval=0, unsigned interval = 0,
List<SubscriptionNode *> * list=nullptr) : List<SubscriptionNode *> *list = nullptr) :
SubscriptionBase(meta, interval), SubscriptionBase(meta, interval),
_interval(interval) { _interval(interval)
if (list != nullptr) list->add(this); {
if (list != nullptr) { list->add(this); }
} }
/** /**
@@ -179,8 +184,8 @@ public:
* list during construction * list during construction
*/ */
Subscription(const struct orb_metadata *meta, Subscription(const struct orb_metadata *meta,
unsigned interval=0, unsigned interval = 0,
List<SubscriptionNode *> * list=nullptr); List<SubscriptionNode *> *list = nullptr);
/** /**
* Deconstructor * Deconstructor
*/ */
@@ -190,7 +195,8 @@ public:
/** /**
* Create an update function that uses the embedded struct. * Create an update function that uses the embedded struct.
*/ */
void update() { void update()
{
SubscriptionBase::update(getDataVoidPtr()); SubscriptionBase::update(getDataVoidPtr());
} }
src/modules/uORB/uORB.cpp
+1
View File
@@ -269,6 +269,7 @@ int orb_exists(const struct orb_metadata *meta, int instance)
int orb_group_count(const struct orb_metadata *meta) int orb_group_count(const struct orb_metadata *meta)
{ {
unsigned group_count = 0; unsigned group_count = 0;
while (!uORB::Manager::get_instance()->orb_exists(meta, group_count++)) {}; while (!uORB::Manager::get_instance()->orb_exists(meta, group_count++)) {};
return group_count; return group_count;
src/modules/uORB/uORBMain.cpp
+63 -60
View File
@@ -45,83 +45,86 @@ extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
static uORB::DeviceMaster *g_dev = nullptr; static uORB::DeviceMaster *g_dev = nullptr;
static void usage() static void usage()
{ {
warnx("Usage: uorb 'start', 'test', 'latency_test' or 'status'"); warnx("Usage: uorb 'start', 'test', 'latency_test' or 'status'");
} }
int int
uorb_main(int argc, char *argv[]) uorb_main(int argc, char *argv[])
{ {
if (argc < 2) { if (argc < 2) {
usage(); usage();
return -EINVAL; return -EINVAL;
} }
/* /*
* Start/load the driver. * Start/load the driver.
* *
* XXX it would be nice to have a wrapper for this... * XXX it would be nice to have a wrapper for this...
*/ */
if (!strcmp(argv[1], "start")) { if (!strcmp(argv[1], "start")) {
if (g_dev != nullptr) { if (g_dev != nullptr) {
warnx("already loaded"); warnx("already loaded");
/* user wanted to start uorb, its already running, no error */ /* user wanted to start uorb, its already running, no error */
return 0; return 0;
} }
/* create the driver */ /* create the driver */
g_dev = new uORB::DeviceMaster(uORB::PUBSUB); g_dev = new uORB::DeviceMaster(uORB::PUBSUB);
if (g_dev == nullptr) { if (g_dev == nullptr) {
warnx("driver alloc failed"); warnx("driver alloc failed");
return -ENOMEM; return -ENOMEM;
} }
if (OK != g_dev->init()) { if (OK != g_dev->init()) {
warnx("driver init failed"); warnx("driver init failed");
delete g_dev; delete g_dev;
g_dev = nullptr; g_dev = nullptr;
return -EIO; return -EIO;
} }
return OK; return OK;
} }
#ifndef __PX4_QURT #ifndef __PX4_QURT
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
{
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
return t.test();
}
/* /*
* Test the latency. * Test the driver/device.
*/ */
if (!strcmp(argv[1], "latency_test")) { if (!strcmp(argv[1], "test")) {
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
return t.test();
}
/*
* Test the latency.
*/
if (!strcmp(argv[1], "latency_test")) {
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
if (argc > 2 && !strcmp(argv[2], "medium")) {
return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
} else if (argc > 2 && !strcmp(argv[2], "large")) {
return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
} else {
return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
}
}
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
if (argc > 2 && !strcmp(argv[2], "medium")) {
return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
} else if (argc > 2 && !strcmp(argv[2], "large")) {
return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
} else {
return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
}
}
#endif #endif
/* /*
* Print driver information. * Print driver information.
*/ */
if (!strcmp(argv[1], "status")) if (!strcmp(argv[1], "status")) {
{ return OK;
return OK; }
}
usage(); usage();
return -EINVAL; return -EINVAL;
} }
src/modules/uORB/uORBUtils.cpp
+25 -24
View File
@@ -37,45 +37,46 @@
int uORB::Utils::node_mkpath int uORB::Utils::node_mkpath
( (
char *buf, char *buf,
Flavor f, Flavor f,
const struct orb_metadata *meta, const struct orb_metadata *meta,
int *instance int *instance
) )
{ {
unsigned len; unsigned len;
unsigned index = 0; unsigned index = 0;
if (instance != nullptr) { if (instance != nullptr) {
index = *instance; index = *instance;
} }
len = snprintf(buf, orb_maxpath, "/%s/%s%d", len = snprintf(buf, orb_maxpath, "/%s/%s%d",
(f == PUBSUB) ? "obj" : "param", (f == PUBSUB) ? "obj" : "param",
meta->o_name, index); meta->o_name, index);
if (len >= orb_maxpath) { if (len >= orb_maxpath) {
return -ENAMETOOLONG; return -ENAMETOOLONG;
} }
return OK; return OK;
} }
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
int uORB::Utils::node_mkpath(char *buf, Flavor f, int uORB::Utils::node_mkpath(char *buf, Flavor f,
const char *orbMsgName ) const char *orbMsgName)
{ {
unsigned len; unsigned len;
unsigned index = 0; unsigned index = 0;
len = snprintf(buf, orb_maxpath, "/%s/%s%d", (f == PUBSUB) ? "obj" : "param", len = snprintf(buf, orb_maxpath, "/%s/%s%d", (f == PUBSUB) ? "obj" : "param",
orbMsgName, index ); orbMsgName, index);
if (len >= orb_maxpath) if (len >= orb_maxpath) {
return -ENAMETOOLONG; return -ENAMETOOLONG;
}
return OK; return OK;
} }
src/modules/uORB/uORBUtils.hpp
+12 -12
View File
@@ -38,24 +38,24 @@
namespace uORB namespace uORB
{ {
class Utils; class Utils;
} }
class uORB::Utils class uORB::Utils
{ {
public: public:
static int node_mkpath static int node_mkpath
( (
char *buf, char *buf,
Flavor f, Flavor f,
const struct orb_metadata *meta, const struct orb_metadata *meta,
int *instance = nullptr int *instance = nullptr
); );
/** /**
* same as above except this generators the path based on the string. * same as above except this generators the path based on the string.
*/ */
static int node_mkpath(char *buf, Flavor f, const char *orbMsgName); static int node_mkpath(char *buf, Flavor f, const char *orbMsgName);
}; };