From 05723ee4f54a6dc5daaa7485980384683324b811 Mon Sep 17 00:00:00 2001 From: Shingo Matsuura Date: Sat, 5 Nov 2016 11:26:13 +0900 Subject: [PATCH] AP_RangeFinder: remove case indent --- .../AP_RangeFinder_LeddarOne.cpp | 81 +++++++++---------- 1 file changed, 40 insertions(+), 41 deletions(-) diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp index b7ea5b5c69..9c422d89ec 100644 --- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp +++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp @@ -56,54 +56,53 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm) } switch (modbus_status) { + case LEDDARONE_MODBUS_INIT: + // clear buffer and buffer_len + memset(read_buffer, 0, sizeof(read_buffer)); + read_len = 0; + modbus_status = LEDDARONE_MODBUS_PRE_SEND_REQUEST; - case LEDDARONE_MODBUS_INIT: - // clear buffer and buffer_len - memset(read_buffer, 0, sizeof(read_buffer)); - read_len = 0; - modbus_status = LEDDARONE_MODBUS_PRE_SEND_REQUEST; - - case LEDDARONE_MODBUS_PRE_SEND_REQUEST: - // send a request message for Modbus function 4 - if (send_request() != LEDDARONE_OK) { - // TODO: handle LEDDARONE_ERR_SERIAL_PORT - break; - } - modbus_status = LEDDARONE_MODBUS_SENT_REQUEST; - last_sending_request_ms = AP_HAL::millis(); + case LEDDARONE_MODBUS_PRE_SEND_REQUEST: + // send a request message for Modbus function 4 + if (send_request() != LEDDARONE_OK) { + // TODO: handle LEDDARONE_ERR_SERIAL_PORT break; + } + modbus_status = LEDDARONE_MODBUS_SENT_REQUEST; + last_sending_request_ms = AP_HAL::millis(); + break; - case LEDDARONE_MODBUS_SENT_REQUEST: - if (uart->available()) { - // change mod_bus status to read available buffer - modbus_status = LEDDARONE_MODBUS_AVAILABLE; - } else { - if (AP_HAL::millis() - last_sending_request_ms > 200) { - // reset mod_bus status to read new buffer - // if read_len is zero, send request without initialize - modbus_status = (read_len == 0) ? LEDDARONE_MODBUS_PRE_SEND_REQUEST : LEDDARONE_MODBUS_INIT; - } - } - break; - - case LEDDARONE_MODBUS_AVAILABLE: - // parse a response message, set number_detections, detections and sum_distance - leddarone_status = parse_response(number_detections); - - if (leddarone_status == LEDDARONE_OK) { - reading_cm = sum_distance / number_detections; - + case LEDDARONE_MODBUS_SENT_REQUEST: + if (uart->available()) { + // change mod_bus status to read available buffer + modbus_status = LEDDARONE_MODBUS_AVAILABLE; + } else { + if (AP_HAL::millis() - last_sending_request_ms > 200) { // reset mod_bus status to read new buffer - modbus_status = LEDDARONE_MODBUS_INIT; - - return true; - } - // if status is not reading buffer, reset mod_bus status to read new buffer - else if (leddarone_status != LEDDARONE_READING_BUFFER) { // if read_len is zero, send request without initialize modbus_status = (read_len == 0) ? LEDDARONE_MODBUS_PRE_SEND_REQUEST : LEDDARONE_MODBUS_INIT; } - break; + } + break; + + case LEDDARONE_MODBUS_AVAILABLE: + // parse a response message, set number_detections, detections and sum_distance + leddarone_status = parse_response(number_detections); + + if (leddarone_status == LEDDARONE_OK) { + reading_cm = sum_distance / number_detections; + + // reset mod_bus status to read new buffer + modbus_status = LEDDARONE_MODBUS_INIT; + + return true; + } + // if status is not reading buffer, reset mod_bus status to read new buffer + else if (leddarone_status != LEDDARONE_READING_BUFFER) { + // if read_len is zero, send request without initialize + modbus_status = (read_len == 0) ? LEDDARONE_MODBUS_PRE_SEND_REQUEST : LEDDARONE_MODBUS_INIT; + } + break; } return false;