From 7f5b32f59f0c0593620883085eb6791857ea36e8 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@retdtechfrance.com>
Date: Mon, 9 Jan 2017 13:25:29 +0100
Subject: [PATCH] AP_HAL_SITL: GPIO minor fixes

fix style
make constructor explicit
fix implicit cast for unsigned to signed value
correct DigitalSource constructor definition
---
 libraries/AP_HAL_SITL/GPIO.cpp | 38 +++++++++++++++++++---------------
 libraries/AP_HAL_SITL/GPIO.h   | 30 +++++++++++++--------------
 2 files changed, 35 insertions(+), 33 deletions(-)

diff --git a/libraries/AP_HAL_SITL/GPIO.cpp b/libraries/AP_HAL_SITL/GPIO.cpp
index ff54ceb350..6de3a401bd 100644
--- a/libraries/AP_HAL_SITL/GPIO.cpp
+++ b/libraries/AP_HAL_SITL/GPIO.cpp
@@ -13,33 +13,32 @@ void GPIO::pinMode(uint8_t pin, uint8_t output)
 
 int8_t GPIO::analogPinToDigitalPin(uint8_t pin)
 {
-	return pin;
+    return pin;
 }
 
-
 uint8_t GPIO::read(uint8_t pin)
 {
-    if (!sitlState->_sitl) {
+    if (!_sitlState->_sitl) {
         return 0;
     }
-    uint8_t mask = sitlState->_sitl->pin_mask.get();
-    return mask & (1U<<pin)? 1: 0;
+    uint8_t mask = static_cast<uint8_t>(_sitlState->_sitl->pin_mask.get());
+    return static_cast<uint8_t>((mask & (1U << pin)) ? 1 : 0);
 }
 
 void GPIO::write(uint8_t pin, uint8_t value)
 {
-    if (!sitlState->_sitl) {
+    if (!_sitlState->_sitl) {
         return;
     }
-    uint8_t mask = sitlState->_sitl->pin_mask.get();
+    uint8_t mask = static_cast<uint8_t>(_sitlState->_sitl->pin_mask.get());
     uint8_t new_mask = mask;
     if (value) {
-        new_mask |= (1U<<pin);
+        new_mask |= (1U << pin);
     } else {
-        new_mask &= ~(1U<<pin);
+        new_mask &= ~(1U << pin);
     }
     if (mask != new_mask) {
-        sitlState->_sitl->pin_mask.set_and_notify(new_mask);
+        _sitlState->_sitl->pin_mask.set_and_notify(new_mask);
     }
 }
 
@@ -50,7 +49,12 @@ void GPIO::toggle(uint8_t pin)
 
 /* Alternative interface: */
 AP_HAL::DigitalSource* GPIO::channel(uint16_t n) {
-    return new DigitalSource(0);
+    if (n < 8) {  // (ie. sizeof(pin_mask)*8)
+        return new DigitalSource(static_cast<uint8_t>(n));
+    } else {
+        return nullptr;
+    }
+
 }
 
 /* Interrupt interface: */
@@ -64,8 +68,8 @@ bool GPIO::usb_connected(void)
     return false;
 }
 
-DigitalSource::DigitalSource(uint8_t v) :
-    pin(v)
+DigitalSource::DigitalSource(uint8_t pin) :
+    _pin(pin)
 {}
 
 void DigitalSource::mode(uint8_t output)
@@ -73,16 +77,16 @@ void DigitalSource::mode(uint8_t output)
 
 uint8_t DigitalSource::read()
 {
-    return hal.gpio->read(pin);
+    return hal.gpio->read(_pin);
 }
 
 void DigitalSource::write(uint8_t value)
 {
-    value = value?1:0;
-    return hal.gpio->write(pin, value);
+    value = static_cast<uint8_t>(value ? 1 : 0);
+    return hal.gpio->write(_pin, value);
 }
 
 void DigitalSource::toggle()
 {
-    return hal.gpio->write(pin, !hal.gpio->read(pin));
+    return hal.gpio->write(_pin, !hal.gpio->read(_pin));
 }
diff --git a/libraries/AP_HAL_SITL/GPIO.h b/libraries/AP_HAL_SITL/GPIO.h
index d31f443799..7c36ccf502 100644
--- a/libraries/AP_HAL_SITL/GPIO.h
+++ b/libraries/AP_HAL_SITL/GPIO.h
@@ -4,38 +4,36 @@
 
 class HALSITL::GPIO : public AP_HAL::GPIO {
 public:
-    GPIO(SITL_State *_sitlState) {
-        sitlState = _sitlState;
-    }
-    void    init();
-    void    pinMode(uint8_t pin, uint8_t output);
-    int8_t  analogPinToDigitalPin(uint8_t pin);
+    explicit GPIO(SITL_State *sitlState): _sitlState(sitlState) {}
+    void init();
+    void pinMode(uint8_t pin, uint8_t output);
+    int8_t analogPinToDigitalPin(uint8_t pin);
     uint8_t read(uint8_t pin);
-    void    write(uint8_t pin, uint8_t value);
-    void    toggle(uint8_t pin);
+    void write(uint8_t pin, uint8_t value);
+    void toggle(uint8_t pin);
 
     /* Alternative interface: */
     AP_HAL::DigitalSource* channel(uint16_t n);
 
     /* Interrupt interface: */
-    bool    attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
+    bool attach_interrupt(uint8_t interrupt_num, AP_HAL::Proc p,
             uint8_t mode);
 
     /* return true if USB cable is connected */
-    bool    usb_connected(void);
+    bool usb_connected(void);
 
 private:
-    SITL_State *sitlState;
+    SITL_State *_sitlState;
 };
 
 class HALSITL::DigitalSource : public AP_HAL::DigitalSource {
 public:
-    DigitalSource(uint8_t _pin);
-    void    mode(uint8_t output);
+    explicit DigitalSource(uint8_t pin);
+    void mode(uint8_t output);
     uint8_t read();
-    void    write(uint8_t value); 
-    void    toggle();
+    void write(uint8_t value);
+    void toggle();
 
 private:
-    uint8_t pin;
+    uint8_t _pin;
 };