From a7ffcfd0376dafef2c85bc5d924d8cb52725ddf1 Mon Sep 17 00:00:00 2001 From: uncrustify Date: Thu, 16 Aug 2012 17:50:15 -0700 Subject: [PATCH] uncrustify ArduPlane/commands_process.pde --- ArduPlane/commands_process.pde | 190 ++++++++++++++++----------------- 1 file changed, 95 insertions(+), 95 deletions(-) diff --git a/ArduPlane/commands_process.pde b/ArduPlane/commands_process.pde index 4eb633c95f..0b0e9175ff 100644 --- a/ArduPlane/commands_process.pde +++ b/ArduPlane/commands_process.pde @@ -4,117 +4,117 @@ //---------------------------------------- void change_command(uint8_t cmd_index) { - struct Location temp = get_cmd_with_index(cmd_index); + struct Location temp = get_cmd_with_index(cmd_index); - if (temp.id > MAV_CMD_NAV_LAST ){ - gcs_send_text_P(SEVERITY_LOW,PSTR("Bad Request - cannot change to non-Nav cmd")); - } else { - gcs_send_text_fmt(PSTR("Received Request - jump to command #%i"),cmd_index); + if (temp.id > MAV_CMD_NAV_LAST ) { + gcs_send_text_P(SEVERITY_LOW,PSTR("Bad Request - cannot change to non-Nav cmd")); + } else { + gcs_send_text_fmt(PSTR("Received Request - jump to command #%i"),cmd_index); - nav_command_ID = NO_COMMAND; - next_nav_command.id = NO_COMMAND; - non_nav_command_ID = NO_COMMAND; + nav_command_ID = NO_COMMAND; + next_nav_command.id = NO_COMMAND; + non_nav_command_ID = NO_COMMAND; - nav_command_index = cmd_index - 1; - g.command_index.set_and_save(cmd_index); - update_commands(); - } + nav_command_index = cmd_index - 1; + g.command_index.set_and_save(cmd_index); + update_commands(); + } } // called by 10 Hz loop // -------------------- static void update_commands(void) { - if(control_mode == AUTO){ - if(home_is_set == true && g.command_total > 1){ - process_next_command(); - } - } // Other (eg GCS_Auto) modes may be implemented here + if(control_mode == AUTO) { + if(home_is_set == true && g.command_total > 1) { + process_next_command(); + } + } // Other (eg GCS_Auto) modes may be implemented here } static void verify_commands(void) { - if(verify_nav_command()){ - nav_command_ID = NO_COMMAND; - } + if(verify_nav_command()) { + nav_command_ID = NO_COMMAND; + } - if(verify_condition_command()){ - non_nav_command_ID = NO_COMMAND; - } + if(verify_condition_command()) { + non_nav_command_ID = NO_COMMAND; + } } static void process_next_command() { - // This function makes sure that we always have a current navigation command - // and loads conditional or immediate commands if applicable + // This function makes sure that we always have a current navigation command + // and loads conditional or immediate commands if applicable - struct Location temp; - byte old_index = 0; + struct Location temp; + byte old_index = 0; - // these are Navigation/Must commands - // --------------------------------- - if (nav_command_ID == NO_COMMAND){ // no current navigation command loaded - old_index = nav_command_index; - temp.id = MAV_CMD_NAV_LAST; - while(temp.id >= MAV_CMD_NAV_LAST && nav_command_index <= g.command_total) { - nav_command_index++; - temp = get_cmd_with_index(nav_command_index); - } + // these are Navigation/Must commands + // --------------------------------- + if (nav_command_ID == NO_COMMAND) { // no current navigation command loaded + old_index = nav_command_index; + temp.id = MAV_CMD_NAV_LAST; + while(temp.id >= MAV_CMD_NAV_LAST && nav_command_index <= g.command_total) { + nav_command_index++; + temp = get_cmd_with_index(nav_command_index); + } - gcs_send_text_fmt(PSTR("Nav command index updated to #%i"),nav_command_index); + gcs_send_text_fmt(PSTR("Nav command index updated to #%i"),nav_command_index); - if(nav_command_index > g.command_total){ - // we are out of commands! - gcs_send_text_P(SEVERITY_LOW,PSTR("out of commands!")); - handle_no_commands(); - } else { - next_nav_command = temp; - nav_command_ID = next_nav_command.id; - non_nav_command_index = NO_COMMAND; // This will cause the next intervening non-nav command (if any) to be loaded - non_nav_command_ID = NO_COMMAND; + if(nav_command_index > g.command_total) { + // we are out of commands! + gcs_send_text_P(SEVERITY_LOW,PSTR("out of commands!")); + handle_no_commands(); + } else { + next_nav_command = temp; + nav_command_ID = next_nav_command.id; + non_nav_command_index = NO_COMMAND; // This will cause the next intervening non-nav command (if any) to be loaded + non_nav_command_ID = NO_COMMAND; - if (g.log_bitmask & MASK_LOG_CMD) { - Log_Write_Cmd(g.command_index, &next_nav_command); - } - process_nav_cmd(); - } - } + if (g.log_bitmask & MASK_LOG_CMD) { + Log_Write_Cmd(g.command_index, &next_nav_command); + } + process_nav_cmd(); + } + } - // these are Condition/May and Do/Now commands - // ------------------------------------------- - if (non_nav_command_index == NO_COMMAND) { // If the index is NO_COMMAND then we have just loaded a nav command - non_nav_command_index = old_index + 1; - //gcs_send_text_fmt(PSTR("Non-Nav command index #%i"),non_nav_command_index); - } else if (non_nav_command_ID == NO_COMMAND) { // If the ID is NO_COMMAND then we have just completed a non-nav command - non_nav_command_index++; - } + // these are Condition/May and Do/Now commands + // ------------------------------------------- + if (non_nav_command_index == NO_COMMAND) { // If the index is NO_COMMAND then we have just loaded a nav command + non_nav_command_index = old_index + 1; + //gcs_send_text_fmt(PSTR("Non-Nav command index #%i"),non_nav_command_index); + } else if (non_nav_command_ID == NO_COMMAND) { // If the ID is NO_COMMAND then we have just completed a non-nav command + non_nav_command_index++; + } - //gcs_send_text_fmt(PSTR("Nav command index #%i"),nav_command_index); - //gcs_send_text_fmt(PSTR("Non-Nav command index #%i"),non_nav_command_index); - //gcs_send_text_fmt(PSTR("Non-Nav command ID #%i"),non_nav_command_ID); - if(nav_command_index <= (int)g.command_total && non_nav_command_ID == NO_COMMAND) { - temp = get_cmd_with_index(non_nav_command_index); - if(temp.id <= MAV_CMD_NAV_LAST) { // The next command is a nav command. No non-nav commands to do - g.command_index.set_and_save(nav_command_index); - non_nav_command_index = nav_command_index; - non_nav_command_ID = WAIT_COMMAND; - gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID); + //gcs_send_text_fmt(PSTR("Nav command index #%i"),nav_command_index); + //gcs_send_text_fmt(PSTR("Non-Nav command index #%i"),non_nav_command_index); + //gcs_send_text_fmt(PSTR("Non-Nav command ID #%i"),non_nav_command_ID); + if(nav_command_index <= (int)g.command_total && non_nav_command_ID == NO_COMMAND) { + temp = get_cmd_with_index(non_nav_command_index); + if(temp.id <= MAV_CMD_NAV_LAST) { // The next command is a nav command. No non-nav commands to do + g.command_index.set_and_save(nav_command_index); + non_nav_command_index = nav_command_index; + non_nav_command_ID = WAIT_COMMAND; + gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID); - } else { // The next command is a non-nav command. Prepare to execute it. - g.command_index.set_and_save(non_nav_command_index); - next_nonnav_command = temp; - non_nav_command_ID = next_nonnav_command.id; - gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID); + } else { // The next command is a non-nav command. Prepare to execute it. + g.command_index.set_and_save(non_nav_command_index); + next_nonnav_command = temp; + non_nav_command_ID = next_nonnav_command.id; + gcs_send_text_fmt(PSTR("Non-Nav command ID updated to #%i"),non_nav_command_ID); - if (g.log_bitmask & MASK_LOG_CMD) { - Log_Write_Cmd(g.command_index, &next_nonnav_command); - } + if (g.log_bitmask & MASK_LOG_CMD) { + Log_Write_Cmd(g.command_index, &next_nonnav_command); + } - process_non_nav_command(); - } + process_non_nav_command(); + } - } + } } /**************************************************/ @@ -122,26 +122,26 @@ static void process_next_command() /**************************************************/ static void process_nav_cmd() { - //gcs_send_text_P(SEVERITY_LOW,PSTR("New nav command loaded")); + //gcs_send_text_P(SEVERITY_LOW,PSTR("New nav command loaded")); - // clear non-nav command ID and index - non_nav_command_index = NO_COMMAND; // Redundant - remove? - non_nav_command_ID = NO_COMMAND; // Redundant - remove? + // clear non-nav command ID and index + non_nav_command_index = NO_COMMAND; // Redundant - remove? + non_nav_command_ID = NO_COMMAND; // Redundant - remove? - handle_process_nav_cmd(); + handle_process_nav_cmd(); } static void process_non_nav_command() { - //gcs_send_text_P(SEVERITY_LOW,PSTR("new non-nav command loaded")); + //gcs_send_text_P(SEVERITY_LOW,PSTR("new non-nav command loaded")); - if(non_nav_command_ID < MAV_CMD_CONDITION_LAST) { - handle_process_condition_command(); - } else { - handle_process_do_command(); - // flag command ID so a new one is loaded - // ----------------------------------------- - non_nav_command_ID = NO_COMMAND; - } + if(non_nav_command_ID < MAV_CMD_CONDITION_LAST) { + handle_process_condition_command(); + } else { + handle_process_do_command(); + // flag command ID so a new one is loaded + // ----------------------------------------- + non_nav_command_ID = NO_COMMAND; + } }