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uORB: Update code style

This commit is contained in:
Lorenz Meier 2015-10-19 13:51:18 +02:00
parent af1fe6ab9b
commit c19c8a35b2
5 changed files with 121 additions and 110 deletions
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34
src/modules/uORB/Subscription.hpp
View File

@ -65,9 +65,10 @@ public:
* between updates
*/
SubscriptionBase(const struct orb_metadata *meta,
unsigned interval=0) :
unsigned interval = 0) :
_meta(meta),
_handle() {
_handle()
{
setHandle(orb_subscribe(getMeta()));
orb_set_interval(getHandle(), interval);
}
@ -75,7 +76,8 @@ public:
/**
* Check if there is a new update.
* */
bool updated() {
bool updated()
{
bool isUpdated = false;
orb_check(_handle, &isUpdated);
return isUpdated;
@ -85,7 +87,8 @@ public:
* Update the struct
* @param data The uORB message struct we are updating.
*/
void update(void * data) {
void update(void *data)
{
if (updated()) {
orb_copy(_meta, _handle, data);
}
@ -94,7 +97,8 @@ public:
/**
* Deconstructor
*/
virtual ~SubscriptionBase() {
virtual ~SubscriptionBase()
{
orb_unsubscribe(_handle);
}
// accessors
@ -108,9 +112,9 @@ protected:
int _handle;
private:
// forbid copy
SubscriptionBase(const SubscriptionBase& other);
SubscriptionBase(const SubscriptionBase &other);
// forbid assignment
SubscriptionBase& operator = (const SubscriptionBase &);
SubscriptionBase &operator = (const SubscriptionBase &);
};
/**
@ -139,11 +143,12 @@ public:
* that this should be appended to.
*/
SubscriptionNode(const struct orb_metadata *meta,
unsigned interval=0,
List<SubscriptionNode *> * list=nullptr) :
unsigned interval = 0,
List<SubscriptionNode *> *list = nullptr) :
SubscriptionBase(meta, interval),
_interval(interval) {
if (list != nullptr) list->add(this);
_interval(interval)
{
if (list != nullptr) { list->add(this); }
}
/**
@ -179,8 +184,8 @@ public:
* list during construction
*/
Subscription(const struct orb_metadata *meta,
unsigned interval=0,
List<SubscriptionNode *> * list=nullptr);
unsigned interval = 0,
List<SubscriptionNode *> *list = nullptr);
/**
* Deconstructor
*/
@ -190,7 +195,8 @@ public:
/**
* Create an update function that uses the embedded struct.
*/
void update() {
void update()
{
SubscriptionBase::update(getDataVoidPtr());
}

1
src/modules/uORB/uORB.cpp
View File

@ -269,6 +269,7 @@ int orb_exists(const struct orb_metadata *meta, int instance)
int orb_group_count(const struct orb_metadata *meta)
{
unsigned group_count = 0;
while (!uORB::Manager::get_instance()->orb_exists(meta, group_count++)) {};
return group_count;

123
src/modules/uORB/uORBMain.cpp
View File

@ -45,83 +45,86 @@ extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
static uORB::DeviceMaster *g_dev = nullptr;
static void usage()
{
warnx("Usage: uorb 'start', 'test', 'latency_test' or 'status'");
warnx("Usage: uorb 'start', 'test', 'latency_test' or 'status'");
}
int
uorb_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
return -EINVAL;
}
if (argc < 2) {
usage();
return -EINVAL;
}
/*
* Start/load the driver.
*
* XXX it would be nice to have a wrapper for this...
*/
if (!strcmp(argv[1], "start")) {
/*
* Start/load the driver.
*
* XXX it would be nice to have a wrapper for this...
*/
if (!strcmp(argv[1], "start")) {
if (g_dev != nullptr) {
warnx("already loaded");
/* user wanted to start uorb, its already running, no error */
return 0;
}
if (g_dev != nullptr) {
warnx("already loaded");
/* user wanted to start uorb, its already running, no error */
return 0;
}
/* create the driver */
g_dev = new uORB::DeviceMaster(uORB::PUBSUB);
/* create the driver */
g_dev = new uORB::DeviceMaster(uORB::PUBSUB);
if (g_dev == nullptr) {
warnx("driver alloc failed");
return -ENOMEM;
}
if (g_dev == nullptr) {
warnx("driver alloc failed");
return -ENOMEM;
}
if (OK != g_dev->init()) {
warnx("driver init failed");
delete g_dev;
g_dev = nullptr;
return -EIO;
}
if (OK != g_dev->init()) {
warnx("driver init failed");
delete g_dev;
g_dev = nullptr;
return -EIO;
}
return OK;
}
return OK;
}
#ifndef __PX4_QURT
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test"))
{
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
return t.test();
}
/*
* Test the latency.
*/
if (!strcmp(argv[1], "latency_test")) {
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
return t.test();
}
/*
* Test the latency.
*/
if (!strcmp(argv[1], "latency_test")) {
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
if (argc > 2 && !strcmp(argv[2], "medium")) {
return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
} else if (argc > 2 && !strcmp(argv[2], "large")) {
return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
} else {
return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
}
}
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
if (argc > 2 && !strcmp(argv[2], "medium")) {
return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
} else if (argc > 2 && !strcmp(argv[2], "large")) {
return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
} else {
return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
}
}
#endif
/*
* Print driver information.
*/
if (!strcmp(argv[1], "status"))
{
return OK;
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "status")) {
return OK;
}
usage();
return -EINVAL;
usage();
return -EINVAL;
}

49
src/modules/uORB/uORBUtils.cpp
View File

@ -37,45 +37,46 @@
int uORB::Utils::node_mkpath
(
char *buf,
Flavor f,
const struct orb_metadata *meta,
int *instance
char *buf,
Flavor f,
const struct orb_metadata *meta,
int *instance
)
{
unsigned len;
unsigned len;
unsigned index = 0;
unsigned index = 0;
if (instance != nullptr) {
index = *instance;
}
if (instance != nullptr) {
index = *instance;
}
len = snprintf(buf, orb_maxpath, "/%s/%s%d",
(f == PUBSUB) ? "obj" : "param",
meta->o_name, index);
len = snprintf(buf, orb_maxpath, "/%s/%s%d",
(f == PUBSUB) ? "obj" : "param",
meta->o_name, index);
if (len >= orb_maxpath) {
return -ENAMETOOLONG;
}
if (len >= orb_maxpath) {
return -ENAMETOOLONG;
}
return OK;
return OK;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int uORB::Utils::node_mkpath(char *buf, Flavor f,
const char *orbMsgName )
const char *orbMsgName)
{
unsigned len;
unsigned len;
unsigned index = 0;
unsigned index = 0;
len = snprintf(buf, orb_maxpath, "/%s/%s%d", (f == PUBSUB) ? "obj" : "param",
orbMsgName, index );
len = snprintf(buf, orb_maxpath, "/%s/%s%d", (f == PUBSUB) ? "obj" : "param",
orbMsgName, index);
if (len >= orb_maxpath)
return -ENAMETOOLONG;
if (len >= orb_maxpath) {
return -ENAMETOOLONG;
}
return OK;
return OK;
}

24
src/modules/uORB/uORBUtils.hpp
View File

@ -38,24 +38,24 @@
namespace uORB
{
class Utils;
class Utils;
}
class uORB::Utils
{
public:
static int node_mkpath
(
char *buf,
Flavor f,
const struct orb_metadata *meta,
int *instance = nullptr
);
static int node_mkpath
(
char *buf,
Flavor f,
const struct orb_metadata *meta,
int *instance = nullptr
);
/**
* same as above except this generators the path based on the string.
*/
static int node_mkpath(char *buf, Flavor f, const char *orbMsgName);
/**
* same as above except this generators the path based on the string.
*/
static int node_mkpath(char *buf, Flavor f, const char *orbMsgName);
};