AP_HAL_Linux: make CameraSensor follow coding style

- Replace tabs with spaces
 - Sort includes
 - No need to ifdef Linux inside AP_HAL_Linux
 - Use early returns on error rather than a chain o if/else
 - Use pragma once
 - No need to initialize class members to 0, it's already our default
   behavior

libraries/AP_HAL_Linux/CameraSensor.cpp

@@ -12,43 +12,40 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-#include <AP_HAL/AP_HAL.h>
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include "CameraSensor.h"
-#include <stdio.h>
-#include <string.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <stdlib.h>
+
 #include <errno.h>
-#include <sys/ioctl.h>
+#include <fcntl.h>
 #include <linux/v4l2-subdev.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
 
 using namespace Linux;
 
 bool CameraSensor::set_format(uint32_t width, uint32_t height, uint32_t format)
 {
     struct v4l2_subdev_format fmt;
-	int ret, fd;
+    int ret, fd;
 
-	fd = open(_device_path, O_RDWR);
-	if (fd < 0) {
-		return false;
+    fd = open(_device_path, O_RDWR);
+    if (fd < 0) {
+        return false;
     }
 
-	memset(&fmt, 0, sizeof(fmt));
-	fmt.pad = 0;
-	fmt.which = V4L2_SUBDEV_FORMAT_ACTIVE;
-	fmt.format.width = width;
+    memset(&fmt, 0, sizeof(fmt));
+    fmt.pad = 0;
+    fmt.which = V4L2_SUBDEV_FORMAT_ACTIVE;
+    fmt.format.width = width;
     fmt.format.height = height;
     fmt.format.code = format;
 
-	ret = ioctl(fd, VIDIOC_SUBDEV_S_FMT, &fmt);
-	if (ret < 0) {
-		return false;
+    ret = ioctl(fd, VIDIOC_SUBDEV_S_FMT, &fmt);
+    if (ret < 0) {
+        return false;
     }
 
-	return true;
+    return true;
 }
-#endif

libraries/AP_HAL_Linux/CameraSensor.h

@@ -12,18 +12,17 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-#ifndef __CAMERASENSOR_H__
-#define __CAMERASENSOR_H__
+#pragma once
 
 #include "AP_HAL_Linux.h"
 
 class Linux::CameraSensor {
 public:
-    CameraSensor(const char *device_path) {_device_path = device_path;}
+    CameraSensor(const char *device_path) { _device_path = device_path; }
+
     bool set_format(uint32_t width, uint32_t height, uint32_t format);
     bool set_crop(uint32_t left, uint32_t top);
+
 private:
     const char *_device_path;
 };
-
-#endif

libraries/AP_HAL_Linux/CameraSensor_Mt9v117.cpp

@@ -111,12 +111,12 @@ CameraSensor_Mt9v117::CameraSensor_Mt9v117(const char *device_path,
                                            uint8_t addr,
                                            enum mt9v117_res res,
                                            uint16_t nrst_gpio,
-                                           uint32_t clock_freq)    :
-    CameraSensor(device_path),
-    _i2c(i2c),
-    _addr(addr),
-    _nrst_gpio(nrst_gpio),
-    _clock_freq(clock_freq)
+                                           uint32_t clock_freq)
+    : CameraSensor(device_path)
+    , _i2c(i2c)
+    , _addr(addr)
+    , _nrst_gpio(nrst_gpio)
+    , _clock_freq(clock_freq)
 {
     switch (res) {
     case MT9V117_QVGA:
@@ -138,12 +138,12 @@ uint8_t CameraSensor_Mt9v117::_read_reg8(uint16_t reg)
     buf[0] = (uint8_t) (reg >> 8);
     buf[1] = (uint8_t) (reg & 0xFF);
 
-    if (_i2c->do_transfer(_addr, buf, 2, buf, 1)) {
-        return buf[0];
-    } else {
+    if (!_i2c->do_transfer(_addr, buf, 2, buf, 1)) {
         hal.console->printf("mt9v117: error reading 0x%2x\n", reg);
         return 0;
     }
+
+    return buf[0];
 }
 
 void CameraSensor_Mt9v117::_write_reg8(uint16_t reg, uint8_t val)
@@ -164,12 +164,12 @@ uint16_t CameraSensor_Mt9v117::_read_reg16(uint16_t reg)
     buf[0] = (uint8_t) (reg >> 8);
     buf[1] = (uint8_t) (reg & 0xFF);
 
-    if (_i2c->do_transfer(_addr, buf, 2, buf, 2)) {
-        return (buf[0] << 8 | buf[1]);
-    } else {
+    if (!_i2c->do_transfer(_addr, buf, 2, buf, 2)) {
         hal.console->printf("mt9v117: error reading 0x%4x\n", reg);
         return 0;
     }
+
+    return (buf[0] << 8 | buf[1]);
 }
 
 void CameraSensor_Mt9v117::_write_reg16(uint16_t reg, uint16_t val)
@@ -316,7 +316,7 @@ void CameraSensor_Mt9v117::_apply_patch()
     _write_reg16(PHYSICAL_ADDRESS_ACCESS, 0x7000);
 
     /* write patch */
-    for (unsigned int i=0; i < MT9V117_PATCH_LINE_NUM; i++) {
+    for (unsigned int i = 0; i < MT9V117_PATCH_LINE_NUM; i++) {
         _i2c->do_transfer(_addr,
                           patch_lines[i].data, patch_lines[i].size, NULL, 0);
     }

libraries/AP_HAL_Linux/CameraSensor_Mt9v117.h

@@ -12,8 +12,7 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-#ifndef __CAMERASENSOR_MT9V117_H__
-#define __CAMERASENSOR_MT9V117_H__
+#pragma once
 
 #include "AP_HAL_Linux.h"
 #include "CameraSensor.h"
@@ -27,6 +26,7 @@ public:
     CameraSensor_Mt9v117(const char *device_path, AP_HAL::I2CDriver *i2c,
                          uint8_t addr, enum mt9v117_res res,
                          uint16_t nrst_gpio, uint32_t clock_freq);
+
 private:
     uint8_t _read_reg8(uint16_t reg);
     void _write_reg8(uint16_t reg, uint8_t val);
@@ -48,9 +48,7 @@ private:
     void _init_sensor();
 
     AP_HAL::I2CDriver *_i2c;
-    uint8_t _addr;
+    uint32_t _clock_freq;
     uint16_t _nrst_gpio = 0xFFFF;
-    uint32_t _clock_freq = 0;
+    uint8_t _addr;
 };
-
-#endif

libraries/AP_HAL_Linux/CameraSensor_Mt9v117_Patches.h

@@ -12,12 +12,11 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-#ifndef __CAMERASENSOR_MT9V117_PATCHES_H__
-#define __CAMERASENSOR_MT9V117_PATCHES_H__
+#pragma once
 
 /* It seems to be mandatory to write these patches by unit of 48 bytes, the
  * 2 first ones seem to be an address since it increments of 48 at each line
- * Possibly easier to read if written under the form : 
+ * Possibly easier to read if written under the form :
  * writeRegisters(addr, 0xf000, 48, line1);
  * ...
  */
@@ -157,5 +156,3 @@ struct mt9v117_patch_line patch_lines[MT9V117_PATCH_LINE_NUM] = {
     {patch_line12, sizeof(patch_line12)},
     {patch_line13, sizeof(patch_line13)}
 };
-
-#endif