From 2351e84592071175370f69ec4ddb993147f5b101 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 31 Aug 2015 14:17:20 +0900 Subject: [PATCH] IRLock: replace tabs with spaces No functional change --- libraries/AP_IRLock/AP_IRLock_PX4.cpp | 66 +++++++++++++-------------- libraries/AP_IRLock/AP_IRLock_PX4.h | 14 +++--- libraries/AP_IRLock/IRLock.cpp | 10 ++-- libraries/AP_IRLock/IRLock.h | 64 +++++++++++++------------- 4 files changed, 77 insertions(+), 77 deletions(-) diff --git a/libraries/AP_IRLock/AP_IRLock_PX4.cpp b/libraries/AP_IRLock/AP_IRLock_PX4.cpp index 9b823350b9..9069bb29b6 100644 --- a/libraries/AP_IRLock/AP_IRLock_PX4.cpp +++ b/libraries/AP_IRLock/AP_IRLock_PX4.cpp @@ -31,53 +31,53 @@ extern const AP_HAL::HAL& hal; AP_IRLock_PX4::AP_IRLock_PX4() : - _fd(0), - _last_timestamp(0) + _fd(0), + _last_timestamp(0) {} void AP_IRLock_PX4::init() { - _fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY); - if (_fd < 0) { - hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n"); - return; - } + _fd = open(IRLOCK0_DEVICE_PATH, O_RDONLY); + if (_fd < 0) { + hal.console->printf("Unable to open " IRLOCK0_DEVICE_PATH "\n"); + return; + } - _flags.healthy = true; + _flags.healthy = true; } // retrieve latest sensor data - returns true if new data is available bool AP_IRLock_PX4::update() { // return immediately if not healthy - if (!_flags.healthy) { - return false; - } + if (!_flags.healthy) { + return false; + } - // read position of all objects - struct irlock_s report; - uint16_t count = 0; - while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s) && report.timestamp >_last_timestamp) { - _target_info[count].timestamp = report.timestamp; - _target_info[count].target_num = report.target_num; - _target_info[count].angle_x = report.angle_x; - _target_info[count].angle_y = report.angle_y; - _target_info[count].size_x = report.size_x; - _target_info[count].size_y = report.size_y; - count++; - _last_timestamp = report.timestamp; - _last_update = hal.scheduler->millis(); - } + // read position of all objects + struct irlock_s report; + uint16_t count = 0; + while(::read(_fd, &report, sizeof(struct irlock_s)) == sizeof(struct irlock_s) && report.timestamp >_last_timestamp) { + _target_info[count].timestamp = report.timestamp; + _target_info[count].target_num = report.target_num; + _target_info[count].angle_x = report.angle_x; + _target_info[count].angle_y = report.angle_y; + _target_info[count].size_x = report.size_x; + _target_info[count].size_y = report.size_y; + count++; + _last_timestamp = report.timestamp; + _last_update = hal.scheduler->millis(); + } - // update num_blocks and implement timeout - if (count > 0) { - _num_targets = count; - } else if ((hal.scheduler->millis() - _last_update) > IRLOCK_TIMEOUT_MS) { - _num_targets = 0; - } + // update num_blocks and implement timeout + if (count > 0) { + _num_targets = count; + } else if ((hal.scheduler->millis() - _last_update) > IRLOCK_TIMEOUT_MS) { + _num_targets = 0; + } - // return true if new data found - return (_num_targets > 0); + // return true if new data found + return (_num_targets > 0); } #endif // CONFIG_HAL_BOARD == HAL_BOARD_PX4 diff --git a/libraries/AP_IRLock/AP_IRLock_PX4.h b/libraries/AP_IRLock/AP_IRLock_PX4.h index 4c75203079..105bcc51f1 100644 --- a/libraries/AP_IRLock/AP_IRLock_PX4.h +++ b/libraries/AP_IRLock/AP_IRLock_PX4.h @@ -13,17 +13,17 @@ class AP_IRLock_PX4 : public IRLock { public: - AP_IRLock_PX4(); + AP_IRLock_PX4(); - // init - initialize sensor library - virtual void init(); + // init - initialize sensor library + virtual void init(); - // retrieve latest sensor data - returns true if new data is available - virtual bool update(); + // retrieve latest sensor data - returns true if new data is available + virtual bool update(); private: - int _fd; - uint64_t _last_timestamp; + int _fd; + uint64_t _last_timestamp; }; #endif /* AP_IRLOCK_PX4_H_ */ diff --git a/libraries/AP_IRLock/IRLock.cpp b/libraries/AP_IRLock/IRLock.cpp index 64916f28ba..be90300479 100644 --- a/libraries/AP_IRLock/IRLock.cpp +++ b/libraries/AP_IRLock/IRLock.cpp @@ -9,14 +9,14 @@ // default constructor IRLock::IRLock() : - _last_update(0), - _num_targets(0) + _last_update(0), + _num_targets(0) { - // clear target info + // clear target info memset(_target_info, 0, sizeof(_target_info)); - // will be adjusted when init is called - _flags.healthy = false; + // will be adjusted when init is called + _flags.healthy = false; } IRLock::~IRLock() {} diff --git a/libraries/AP_IRLock/IRLock.h b/libraries/AP_IRLock/IRLock.h index 2ea58cc8fb..26ac92c596 100644 --- a/libraries/AP_IRLock/IRLock.h +++ b/libraries/AP_IRLock/IRLock.h @@ -31,49 +31,49 @@ class IRLock { public: - IRLock(); - virtual ~IRLock(); + IRLock(); + virtual ~IRLock(); - // init - initialize sensor library - // library won't be useable unless this is first called - virtual void init() = 0; + // init - initialize sensor library + // library won't be useable unless this is first called + virtual void init() = 0; - // true if irlock sensor is online and healthy - bool healthy() const { return _flags.healthy; } + // true if irlock sensor is online and healthy + bool healthy() const { return _flags.healthy; } - // timestamp of most recent data read from the sensor - uint32_t last_update() const { return _last_update; } + // timestamp of most recent data read from the sensor + uint32_t last_update() const { return _last_update; } - // returns the number of blocks in the current frame - size_t num_targets() const { return _num_targets; } + // returns the number of blocks in the current frame + size_t num_targets() const { return _num_targets; } - // retrieve latest sensor data - returns true if new data is available - virtual bool update() = 0; + // retrieve latest sensor data - returns true if new data is available + virtual bool update() = 0; - // get_angle_to_target - retrieve body frame x and y angles (in radians) to target - // returns true if angles are available, false if not (i.e. no target) - bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const; + // get_angle_to_target - retrieve body frame x and y angles (in radians) to target + // returns true if angles are available, false if not (i.e. no target) + bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) const; protected: - struct AP_IRLock_Flags { - uint8_t healthy : 1; // true if sensor is healthy - } _flags; + struct AP_IRLock_Flags { + uint8_t healthy : 1; // true if sensor is healthy + } _flags; - // internals - uint32_t _last_update; - uint16_t _num_targets; + // internals + uint32_t _last_update; + uint16_t _num_targets; - // irlock_target_info is a duplicate of the PX4Firmware irlock_s structure - typedef struct { - uint64_t timestamp; // time target was seen in microseconds since system start - uint16_t target_num; // target number prioritised by size (largest is 0) - float angle_x; // x-axis angle in radians from center of image to center of target - float angle_y; // y-axis angle in radians from center of image to center of target - float size_x; // size in radians of target along x-axis - float size_y; // size in radians of target along y-axis - } irlock_target_info; + // irlock_target_info is a duplicate of the PX4Firmware irlock_s structure + typedef struct { + uint64_t timestamp; // time target was seen in microseconds since system start + uint16_t target_num; // target number prioritised by size (largest is 0) + float angle_x; // x-axis angle in radians from center of image to center of target + float angle_y; // y-axis angle in radians from center of image to center of target + float size_x; // size in radians of target along x-axis + float size_y; // size in radians of target along y-axis + } irlock_target_info; - irlock_target_info _target_info[IRLOCK_MAX_TARGETS]; + irlock_target_info _target_info[IRLOCK_MAX_TARGETS]; };