From 44c4b8fa8574d8eda27358eb2179c1553b633dd0 Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Tue, 7 Jun 2022 18:20:34 +0200
Subject: [PATCH] Style refactoring related to safety button

---
 msg/vehicle_status.msg              |  4 ++--
 src/modules/commander/Commander.cpp |  5 ++---
 src/modules/commander/Commander.hpp |  2 +-
 src/modules/commander/Safety.cpp    |  8 ++------
 src/modules/commander/Safety.hpp    | 15 ++++++---------
 5 files changed, 13 insertions(+), 21 deletions(-)

diff --git a/msg/vehicle_status.msg b/msg/vehicle_status.msg
index 19a9171aa6..902d07a478 100644
--- a/msg/vehicle_status.msg
+++ b/msg/vehicle_status.msg
@@ -117,5 +117,5 @@ uint64 armed_time       # Arming timestamp (microseconds)
 
 uint64 takeoff_time     # Takeoff timestamp (microseconds)
 
-bool safety_button_available	# Set to true if a safety button is connected
-bool safety_off					# Set to true if safety is off
+bool safety_button_available # Set to true if a safety button is connected
+bool safety_off # Set to true if safety is off
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index d5ebe203f6..46f510a52d 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -2298,12 +2298,11 @@ Commander::run()
 		}
 
 		/* safety button */
-		bool safety_updated = _safety.safetyButtonHandler();
+		const bool safety_changed = _safety.safetyButtonHandler();
 		_vehicle_status.safety_button_available = _safety.isButtonAvailable();
 		_vehicle_status.safety_off = _safety.isSafetyOff();
 
-		if (safety_updated) {
-
+		if (safety_changed) {
 			set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL, _safety.isButtonAvailable(), _safety.isSafetyOff(),
 					 _safety.isButtonAvailable(), _vehicle_status);
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 3ad01dbdeb..6c631ea66a 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -402,7 +402,7 @@ private:
 	vehicle_status_s        _vehicle_status{};
 	vehicle_status_flags_s  _vehicle_status_flags{};
 
-	Safety _safety{};
+	Safety _safety;
 
 	WorkerThread _worker_thread;
 
diff --git a/src/modules/commander/Safety.cpp b/src/modules/commander/Safety.cpp
index 49ca905a04..6cb9bc1809 100644
--- a/src/modules/commander/Safety.cpp
+++ b/src/modules/commander/Safety.cpp
@@ -42,9 +42,7 @@ using namespace time_literals;
 
 Safety::Safety()
 {
-	/*
-	 * Safety can be turned off with the CBRK_IO_SAFETY parameter.
-	 */
+	// Safety can be turned off with the CBRK_IO_SAFETY parameter.
 	_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
 }
 
@@ -67,10 +65,8 @@ bool Safety::safetyButtonHandler()
 		}
 	}
 
-	bool safety_changed = _previous_safety_off != _safety_off;
-
+	const bool safety_changed = _previous_safety_off != _safety_off;
 	_previous_safety_off = _safety_off;
-
 	return safety_changed;
 }
 
diff --git a/src/modules/commander/Safety.hpp b/src/modules/commander/Safety.hpp
index 4b06d7e26d..0092903517 100644
--- a/src/modules/commander/Safety.hpp
+++ b/src/modules/commander/Safety.hpp
@@ -43,23 +43,20 @@
 
 class Safety
 {
-
 public:
-
 	Safety();
 	~Safety() = default;
 
 	bool safetyButtonHandler();
 	void activateSafety();
-	bool isButtonAvailable() { return _button_available;}
-	bool isSafetyOff() { return _safety_off;}
+	bool isButtonAvailable() { return _button_available; }
+	bool isSafetyOff() { return _safety_off; }
 
 private:
-
 	uORB::Subscription _safety_button_sub{ORB_ID::safety_button};
 
-	bool _button_available{false};		//<! Set to true if a safety button is connected
-	bool _safety_off{false};			//<! Set to true if safety is off
-	bool _previous_safety_off{false};	//<! Previous safety value
-	bool _safety_disabled{false};		//<! Set to true if safety is disabled
+	bool _button_available{false};///< Set to true if a safety button is connected
+	bool _safety_off{false}; ///< Set to true if safety is off
+	bool _previous_safety_off{false}; ///< Previous safety value
+	bool _safety_disabled{false}; ///< Set to true if safety is disabled
 };