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ll40ls: astyle

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This commit is contained in:
Ban Siesta
2015-05-24 09:44:10 +01:00
parent 3efaeabd5b
commit e67f681935
7 changed files with 667 additions and 628 deletions
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src/drivers/ll40ls/ll40ls.cpp
+39 -15
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@@ -90,12 +90,16 @@ void start(int bus)
{
/* create the driver, attempt expansion bus first */
if (bus == -1 || bus == PX4_I2C_BUS_EXPANSION) {
if (g_dev_ext != nullptr)
if (g_dev_ext != nullptr) {
errx(0, "already started external");
}
g_dev_ext = new LidarLiteI2C(PX4_I2C_BUS_EXPANSION, LL40LS_DEVICE_PATH_EXT);
if (g_dev_ext != nullptr && OK != g_dev_ext->init()) {
delete g_dev_ext;
g_dev_ext = nullptr;
if (bus == PX4_I2C_BUS_EXPANSION) {
goto fail;
}
@@ -103,11 +107,15 @@ void start(int bus)
}
#ifdef PX4_I2C_BUS_ONBOARD
/* if this failed, attempt onboard sensor */
if (bus == -1 || bus == PX4_I2C_BUS_ONBOARD) {
if (g_dev_int != nullptr)
if (g_dev_int != nullptr) {
errx(0, "already started internal");
}
g_dev_int = new LidarLiteI2C(PX4_I2C_BUS_ONBOARD, LL40LS_DEVICE_PATH_INT);
if (g_dev_int != nullptr && OK != g_dev_int->init()) {
/* tear down the failing onboard instance */
delete g_dev_int;
@@ -117,44 +125,54 @@ void start(int bus)
goto fail;
}
}
if (g_dev_int == nullptr && bus == PX4_I2C_BUS_ONBOARD) {
goto fail;
}
}
#endif
/* set the poll rate to default, starts automatic data collection */
if (g_dev_int != nullptr) {
int fd = open(LL40LS_DEVICE_PATH_INT, O_RDONLY);
if (fd == -1) {
goto fail;
}
if (fd == -1) {
goto fail;
}
int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
close(fd);
if (ret < 0) {
goto fail;
}
}
}
if (g_dev_ext != nullptr) {
int fd = open(LL40LS_DEVICE_PATH_EXT, O_RDONLY);
if (fd == -1) {
goto fail;
}
if (fd == -1) {
goto fail;
}
int ret = ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT);
close(fd);
if (ret < 0) {
goto fail;
}
}
}
exit(0);
fail:
if (g_dev_int != nullptr && (bus == -1 || bus == PX4_I2C_BUS_ONBOARD)) {
delete g_dev_int;
g_dev_int = nullptr;
}
if (g_dev_ext != nullptr && (bus == -1 || bus == PX4_I2C_BUS_EXPANSION)) {
delete g_dev_ext;
g_dev_ext = nullptr;
@@ -168,7 +186,8 @@ fail:
*/
void stop(int bus)
{
LidarLiteI2C **g_dev = (bus == PX4_I2C_BUS_ONBOARD?&g_dev_int:&g_dev_ext);
LidarLiteI2C **g_dev = (bus == PX4_I2C_BUS_ONBOARD ? &g_dev_int : &g_dev_ext);
if (*g_dev != nullptr) {
delete *g_dev;
*g_dev = nullptr;
@@ -191,7 +210,7 @@ test(int bus)
struct range_finder_report report;
ssize_t sz;
int ret;
const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT);
const char *path = (bus == PX4_I2C_BUS_ONBOARD ? LL40LS_DEVICE_PATH_INT : LL40LS_DEVICE_PATH_EXT);
int fd = open(path, O_RDONLY);
@@ -254,7 +273,7 @@ test(int bus)
void
reset(int bus)
{
const char *path = (bus==PX4_I2C_BUS_ONBOARD?LL40LS_DEVICE_PATH_INT:LL40LS_DEVICE_PATH_EXT);
const char *path = (bus == PX4_I2C_BUS_ONBOARD ? LL40LS_DEVICE_PATH_INT : LL40LS_DEVICE_PATH_EXT);
int fd = open(path, O_RDONLY);
if (fd < 0) {
@@ -278,7 +297,8 @@ reset(int bus)
void
info(int bus)
{
LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
errx(1, "driver not running");
}
@@ -295,7 +315,8 @@ info(int bus)
void
regdump(int bus)
{
LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD?g_dev_int:g_dev_ext);
LidarLiteI2C *g_dev = (bus == PX4_I2C_BUS_ONBOARD ? g_dev_int : g_dev_ext);
if (g_dev == nullptr) {
errx(1, "driver not running");
}
@@ -328,13 +349,16 @@ ll40ls_main(int argc, char *argv[])
while ((ch = getopt(argc, argv, "XI")) != EOF) {
switch (ch) {
#ifdef PX4_I2C_BUS_ONBOARD
case 'I':
bus = PX4_I2C_BUS_ONBOARD;
break;
#endif
case 'X':
bus = PX4_I2C_BUS_EXPANSION;
break;
default:
ll40ls::usage();
exit(0);