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AP_RangeFinder: remove case indent

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Shingo Matsuura 2016-11-05 11:26:13 +09:00 committed by Randy Mackay
parent c348a6d0fe
commit 05723ee4f5
1 changed files with 40 additions and 41 deletions
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81
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -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;