From 5c86eb6dd0be72cb3455a82020457d13515cb527 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 8 Mar 2014 18:48:24 +0100 Subject: [PATCH] Fix code style of mb12xx driver, no functional changes --- src/drivers/mb12xx/mb12xx.cpp | 237 +++++++++++++++++++--------------- 1 file changed, 134 insertions(+), 103 deletions(-) diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp index c910e28908..7693df295c 100644 --- a/src/drivers/mb12xx/mb12xx.cpp +++ b/src/drivers/mb12xx/mb12xx.cpp @@ -37,7 +37,7 @@ * * Driver for the Maxbotix sonar range finders connected via I2C. */ - + #include #include @@ -84,7 +84,7 @@ /* Device limits */ #define MB12XX_MIN_DISTANCE (0.20f) #define MB12XX_MAX_DISTANCE (7.65f) - + #define MB12XX_CONVERSION_INTERVAL 60000 /* 60ms */ /* oddly, ERROR is not defined for c++ */ @@ -102,17 +102,17 @@ class MB12XX : public device::I2C public: MB12XX(int bus = MB12XX_BUS, int address = MB12XX_BASEADDR); virtual ~MB12XX(); - + virtual int init(); - + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); virtual int ioctl(struct file *filp, int cmd, unsigned long arg); - + /** * Diagnostics - print some basic information about the driver. */ void print_info(); - + protected: virtual int probe(); @@ -124,13 +124,13 @@ private: bool _sensor_ok; int _measure_ticks; bool _collect_phase; - + orb_advert_t _range_finder_topic; perf_counter_t _sample_perf; perf_counter_t _comms_errors; perf_counter_t _buffer_overflows; - + /** * Test whether the device supported by the driver is present at a * specific address. @@ -139,7 +139,7 @@ private: * @return True if the device is present. */ int probe_address(uint8_t address); - + /** * Initialise the automatic measurement state machine and start it. * @@ -147,12 +147,12 @@ private: * to make it more aggressive about resetting the bus in case of errors. */ void start(); - + /** * Stop the automatic measurement state machine. */ void stop(); - + /** * Set the min and max distance thresholds if you want the end points of the sensors * range to be brought in at all, otherwise it will use the defaults MB12XX_MIN_DISTANCE @@ -162,7 +162,7 @@ private: void set_maximum_distance(float max); float get_minimum_distance(); float get_maximum_distance(); - + /** * Perform a poll cycle; collect from the previous measurement * and start a new one. @@ -177,8 +177,8 @@ private: * @param arg Instance pointer for the driver that is polling. */ static void cycle_trampoline(void *arg); - - + + }; /* @@ -201,7 +201,7 @@ MB12XX::MB12XX(int bus, int address) : { // enable debug() calls _debug_enabled = true; - + // work_cancel in the dtor will explode if we don't do this... memset(&_work, 0, sizeof(_work)); } @@ -212,8 +212,9 @@ MB12XX::~MB12XX() stop(); /* free any existing reports */ - if (_reports != nullptr) + if (_reports != nullptr) { delete _reports; + } } int @@ -222,22 +223,25 @@ MB12XX::init() int ret = ERROR; /* do I2C init (and probe) first */ - if (I2C::init() != OK) + if (I2C::init() != OK) { goto out; + } /* allocate basic report buffers */ _reports = new RingBuffer(2, sizeof(range_finder_report)); - if (_reports == nullptr) + if (_reports == nullptr) { goto out; + } /* get a publish handle on the range finder topic */ struct range_finder_report zero_report; memset(&zero_report, 0, sizeof(zero_report)); _range_finder_topic = orb_advertise(ORB_ID(sensor_range_finder), &zero_report); - if (_range_finder_topic < 0) + if (_range_finder_topic < 0) { debug("failed to create sensor_range_finder object. Did you start uOrb?"); + } ret = OK; /* sensor is ok, but we don't really know if it is within range */ @@ -256,13 +260,13 @@ void MB12XX::set_minimum_distance(float min) { _min_distance = min; -} +} void MB12XX::set_maximum_distance(float max) { _max_distance = max; -} +} float MB12XX::get_minimum_distance() @@ -284,20 +288,20 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) case SENSORIOCSPOLLRATE: { switch (arg) { - /* switching to manual polling */ + /* switching to manual polling */ case SENSOR_POLLRATE_MANUAL: stop(); _measure_ticks = 0; return OK; - /* external signalling (DRDY) not supported */ + /* external signalling (DRDY) not supported */ case SENSOR_POLLRATE_EXTERNAL: - /* zero would be bad */ + /* zero would be bad */ case 0: return -EINVAL; - /* set default/max polling rate */ + /* set default/max polling rate */ case SENSOR_POLLRATE_MAX: case SENSOR_POLLRATE_DEFAULT: { /* do we need to start internal polling? */ @@ -307,13 +311,14 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) _measure_ticks = USEC2TICK(MB12XX_CONVERSION_INTERVAL); /* if we need to start the poll state machine, do it */ - if (want_start) + if (want_start) { start(); + } return OK; } - /* adjust to a legal polling interval in Hz */ + /* adjust to a legal polling interval in Hz */ default: { /* do we need to start internal polling? */ bool want_start = (_measure_ticks == 0); @@ -322,15 +327,17 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) unsigned ticks = USEC2TICK(1000000 / arg); /* check against maximum rate */ - if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL)) + if (ticks < USEC2TICK(MB12XX_CONVERSION_INTERVAL)) { return -EINVAL; + } /* update interval for next measurement */ _measure_ticks = ticks; /* if we need to start the poll state machine, do it */ - if (want_start) + if (want_start) { start(); + } return OK; } @@ -338,45 +345,49 @@ MB12XX::ioctl(struct file *filp, int cmd, unsigned long arg) } case SENSORIOCGPOLLRATE: - if (_measure_ticks == 0) + if (_measure_ticks == 0) { return SENSOR_POLLRATE_MANUAL; + } return (1000 / _measure_ticks); case SENSORIOCSQUEUEDEPTH: { - /* lower bound is mandatory, upper bound is a sanity check */ - if ((arg < 1) || (arg > 100)) - return -EINVAL; - - irqstate_t flags = irqsave(); - if (!_reports->resize(arg)) { + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 1) || (arg > 100)) { + return -EINVAL; + } + + irqstate_t flags = irqsave(); + + if (!_reports->resize(arg)) { + irqrestore(flags); + return -ENOMEM; + } + irqrestore(flags); - return -ENOMEM; + + return OK; } - irqrestore(flags); - - return OK; - } case SENSORIOCGQUEUEDEPTH: return _reports->size(); - + case SENSORIOCRESET: /* XXX implement this */ return -EINVAL; - - case RANGEFINDERIOCSETMINIUMDISTANCE: - { - set_minimum_distance(*(float *)arg); - return 0; - } - break; - case RANGEFINDERIOCSETMAXIUMDISTANCE: - { - set_maximum_distance(*(float *)arg); - return 0; - } - break; + + case RANGEFINDERIOCSETMINIUMDISTANCE: { + set_minimum_distance(*(float *)arg); + return 0; + } + break; + + case RANGEFINDERIOCSETMAXIUMDISTANCE: { + set_maximum_distance(*(float *)arg); + return 0; + } + break; + default: /* give it to the superclass */ return I2C::ioctl(filp, cmd, arg); @@ -391,8 +402,9 @@ MB12XX::read(struct file *filp, char *buffer, size_t buflen) int ret = 0; /* buffer must be large enough */ - if (count < 1) + if (count < 1) { return -ENOSPC; + } /* if automatic measurement is enabled */ if (_measure_ticks > 0) { @@ -453,14 +465,14 @@ MB12XX::measure() uint8_t cmd = MB12XX_TAKE_RANGE_REG; ret = transfer(&cmd, 1, nullptr, 0); - if (OK != ret) - { + if (OK != ret) { perf_count(_comms_errors); log("i2c::transfer returned %d", ret); return ret; } + ret = OK; - + return ret; } @@ -468,32 +480,31 @@ int MB12XX::collect() { int ret = -EIO; - + /* read from the sensor */ uint8_t val[2] = {0, 0}; - + perf_begin(_sample_perf); - + ret = transfer(nullptr, 0, &val[0], 2); - - if (ret < 0) - { + + if (ret < 0) { log("error reading from sensor: %d", ret); perf_count(_comms_errors); perf_end(_sample_perf); return ret; } - + uint16_t distance = val[0] << 8 | val[1]; - float si_units = (distance * 1.0f)/ 100.0f; /* cm to m */ + float si_units = (distance * 1.0f) / 100.0f; /* cm to m */ struct range_finder_report report; /* this should be fairly close to the end of the measurement, so the best approximation of the time */ report.timestamp = hrt_absolute_time(); - report.error_count = perf_event_count(_comms_errors); + report.error_count = perf_event_count(_comms_errors); report.distance = si_units; report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0; - + /* publish it */ orb_publish(ORB_ID(sensor_range_finder), _range_finder_topic, &report); @@ -519,17 +530,19 @@ MB12XX::start() /* schedule a cycle to start things */ work_queue(HPWORK, &_work, (worker_t)&MB12XX::cycle_trampoline, this, 1); - + /* notify about state change */ struct subsystem_info_s info = { true, true, true, - SUBSYSTEM_TYPE_RANGEFINDER}; + SUBSYSTEM_TYPE_RANGEFINDER + }; static orb_advert_t pub = -1; if (pub > 0) { orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { pub = orb_advertise(ORB_ID(subsystem_info), &info); } @@ -583,8 +596,9 @@ MB12XX::cycle() } /* measurement phase */ - if (OK != measure()) + if (OK != measure()) { log("measure error"); + } /* next phase is collection */ _collect_phase = true; @@ -635,33 +649,37 @@ start() { int fd; - if (g_dev != nullptr) + if (g_dev != nullptr) { errx(1, "already started"); + } /* create the driver */ g_dev = new MB12XX(MB12XX_BUS); - if (g_dev == nullptr) + if (g_dev == nullptr) { goto fail; + } - if (OK != g_dev->init()) + if (OK != g_dev->init()) { goto fail; + } /* set the poll rate to default, starts automatic data collection */ fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { goto fail; + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { goto fail; + } exit(0); fail: - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; } @@ -674,15 +692,14 @@ fail: */ void stop() { - if (g_dev != nullptr) - { + if (g_dev != nullptr) { delete g_dev; g_dev = nullptr; - } - else - { + + } else { errx(1, "driver not running"); } + exit(0); } @@ -700,22 +717,25 @@ test() int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "%s open failed (try 'mb12xx start' if the driver is not running", RANGE_FINDER_DEVICE_PATH); + } /* do a simple demand read */ sz = read(fd, &report, sizeof(report)); - if (sz != sizeof(report)) + if (sz != sizeof(report)) { err(1, "immediate read failed"); + } warnx("single read"); warnx("measurement: %0.2f m", (double)report.distance); warnx("time: %lld", report.timestamp); /* start the sensor polling at 2Hz */ - if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) { errx(1, "failed to set 2Hz poll rate"); + } /* read the sensor 5x and report each value */ for (unsigned i = 0; i < 5; i++) { @@ -726,14 +746,16 @@ test() fds.events = POLLIN; ret = poll(&fds, 1, 2000); - if (ret != 1) + if (ret != 1) { errx(1, "timed out waiting for sensor data"); + } /* now go get it */ sz = read(fd, &report, sizeof(report)); - if (sz != sizeof(report)) + if (sz != sizeof(report)) { err(1, "periodic read failed"); + } warnx("periodic read %u", i); warnx("measurement: %0.3f", (double)report.distance); @@ -751,14 +773,17 @@ reset() { int fd = open(RANGE_FINDER_DEVICE_PATH, O_RDONLY); - if (fd < 0) + if (fd < 0) { err(1, "failed "); + } - if (ioctl(fd, SENSORIOCRESET, 0) < 0) + if (ioctl(fd, SENSORIOCRESET, 0) < 0) { err(1, "driver reset failed"); + } - if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) { err(1, "driver poll restart failed"); + } exit(0); } @@ -769,8 +794,9 @@ reset() void info() { - if (g_dev == nullptr) + if (g_dev == nullptr) { errx(1, "driver not running"); + } printf("state @ %p\n", g_dev); g_dev->print_info(); @@ -786,32 +812,37 @@ mb12xx_main(int argc, char *argv[]) /* * Start/load the driver. */ - if (!strcmp(argv[1], "start")) + if (!strcmp(argv[1], "start")) { mb12xx::start(); - - /* - * Stop the driver - */ - if (!strcmp(argv[1], "stop")) - mb12xx::stop(); + } + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) { + mb12xx::stop(); + } /* * Test the driver/device. */ - if (!strcmp(argv[1], "test")) + if (!strcmp(argv[1], "test")) { mb12xx::test(); + } /* * Reset the driver. */ - if (!strcmp(argv[1], "reset")) + if (!strcmp(argv[1], "reset")) { mb12xx::reset(); + } /* * Print driver information. */ - if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) { mb12xx::info(); + } errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'"); }