Fix code style, no actual code edits

src/modules/mavlink/mavlink_main.cpp

@@ -81,7 +81,7 @@
 #include "mavlink_commands.h"
 
 #ifndef MAVLINK_CRC_EXTRA
- #error MAVLINK_CRC_EXTRA has to be defined on PX4 systems
+#error MAVLINK_CRC_EXTRA has to be defined on PX4 systems
 #endif
 
 /* oddly, ERROR is not defined for c++ */
@@ -154,7 +154,8 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 		instance = Mavlink::get_instance(6);
 		break;
 #endif
-		default:
+
+	default:
 		return;
 	}
 
@@ -169,17 +170,16 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 	int buf_free = 0;
 
 	if (instance->get_flow_control_enabled()
-		&& ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
+	    && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
 
 		/* Disable hardware flow control:
 		 * if no successful write since a defined time
 		 * and if the last try was not the last successful write
 		 */
 		if (last_write_try_times[(unsigned)channel] != 0 &&
-			hrt_elapsed_time(&last_write_success_times[(unsigned)channel]) > 500 * 1000UL &&
-			last_write_success_times[(unsigned)channel] !=
-			last_write_try_times[(unsigned)channel])
-		{
+		    hrt_elapsed_time(&last_write_success_times[(unsigned)channel]) > 500 * 1000UL &&
+		    last_write_success_times[(unsigned)channel] !=
+		    last_write_try_times[(unsigned)channel]) {
 			warnx("DISABLING HARDWARE FLOW CONTROL");
 			instance->enable_flow_control(false);
 		}
@@ -202,8 +202,10 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 		}
 
 		ssize_t ret = write(uart, ch, desired);
+
 		if (ret != desired) {
 			instance->count_txerr();
+
 		} else {
 			last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel];
 		}
@@ -232,33 +234,33 @@ Mavlink::Mavlink() :
 	_mission_result_sub(-1),
 	_mode(MAVLINK_MODE_NORMAL),
 	_channel(MAVLINK_COMM_0),
-	_logbuffer{},
-	_total_counter(0),
-	_receive_thread{},
-	_verbose(false),
-	_forwarding_on(false),
-	_passing_on(false),
-	_ftp_on(false),
-	_uart_fd(-1),
-	_baudrate(57600),
-	_datarate(10000),
-	_mavlink_param_queue_index(0),
-	mavlink_link_termination_allowed(false),
-	_subscribe_to_stream(nullptr),
-	_subscribe_to_stream_rate(0.0f),
-	_flow_control_enabled(true),
-	_rstatus{},
-	_message_buffer{},
-	_message_buffer_mutex{},
-	_param_initialized(false),
-	_param_system_id(0),
-	_param_component_id(0),
-	_param_system_type(0),
-	_param_use_hil_gps(0),
-
-/* performance counters */
-	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
-	_txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
+	_logbuffer {},
+	   _total_counter(0),
+	   _receive_thread {},
+	   _verbose(false),
+	   _forwarding_on(false),
+	   _passing_on(false),
+	   _ftp_on(false),
+	   _uart_fd(-1),
+	   _baudrate(57600),
+	   _datarate(10000),
+	   _mavlink_param_queue_index(0),
+	   mavlink_link_termination_allowed(false),
+	   _subscribe_to_stream(nullptr),
+	   _subscribe_to_stream_rate(0.0f),
+	   _flow_control_enabled(true),
+	   _rstatus {},
+	   _message_buffer {},
+	   _message_buffer_mutex {},
+	   _param_initialized(false),
+	   _param_system_id(0),
+	   _param_component_id(0),
+	   _param_system_type(0),
+	   _param_use_hil_gps(0),
+
+	   /* performance counters */
+	   _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
+	   _txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
 {
 	fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl;
 
@@ -637,7 +639,8 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *
 	case 921600: speed = B921600; break;
 
 	default:
-		warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n", baud);
+		warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n",
+		      baud);
 		return -EINVAL;
 	}
 
@@ -867,8 +870,9 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
 	case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: {
 			mavlink_param_request_list_t req;
 			mavlink_msg_param_request_list_decode(msg, &req);
+
 			if (req.target_system == mavlink_system.sysid &&
-					(req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) {
+			    (req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) {
 				/* Start sending parameters */
 				mavlink_pm_start_queued_send();
 				send_statustext_info("[pm] sending list");
@@ -883,7 +887,9 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
 				mavlink_param_set_t mavlink_param_set;
 				mavlink_msg_param_set_decode(msg, &mavlink_param_set);
 
-				if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
+				if (mavlink_param_set.target_system == mavlink_system.sysid
+				    && ((mavlink_param_set.target_component == mavlink_system.compid)
+					|| (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) {
 					/* local name buffer to enforce null-terminated string */
 					char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1];
 					strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
@@ -910,7 +916,9 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
 			mavlink_param_request_read_t mavlink_param_request_read;
 			mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read);
 
-			if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
+			if (mavlink_param_request_read.target_system == mavlink_system.sysid
+			    && ((mavlink_param_request_read.target_component == mavlink_system.compid)
+				|| (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) {
 				/* when no index is given, loop through string ids and compare them */
 				if (mavlink_param_request_read.param_index == -1) {
 					/* local name buffer to enforce null-terminated string */
@@ -973,15 +981,17 @@ Mavlink::send_statustext(unsigned severity, const char *string)
 
 		/* Map severity */
 		switch (severity) {
-			case MAVLINK_IOC_SEND_TEXT_INFO:
-				statustext.severity = MAV_SEVERITY_INFO;
-				break;
-			case MAVLINK_IOC_SEND_TEXT_CRITICAL:
-				statustext.severity = MAV_SEVERITY_CRITICAL;
-				break;
-			case MAVLINK_IOC_SEND_TEXT_EMERGENCY:
-				statustext.severity = MAV_SEVERITY_EMERGENCY;
-				break;
+		case MAVLINK_IOC_SEND_TEXT_INFO:
+			statustext.severity = MAV_SEVERITY_INFO;
+			break;
+
+		case MAVLINK_IOC_SEND_TEXT_CRITICAL:
+			statustext.severity = MAV_SEVERITY_CRITICAL;
+			break;
+
+		case MAVLINK_IOC_SEND_TEXT_EMERGENCY:
+			statustext.severity = MAV_SEVERITY_EMERGENCY;
+			break;
 		}
 
 		mavlink_msg_statustext_send(_channel, statustext.severity, statustext.text);
@@ -1098,12 +1108,14 @@ Mavlink::message_buffer_init(int size)
 	_message_buffer.size = size;
 	_message_buffer.write_ptr = 0;
 	_message_buffer.read_ptr = 0;
-	_message_buffer.data = (char*)malloc(_message_buffer.size);
+	_message_buffer.data = (char *)malloc(_message_buffer.size);
 
 	int ret;
+
 	if (_message_buffer.data == 0) {
 		ret = ERROR;
 		_message_buffer.size = 0;
+
 	} else {
 		ret = OK;
 	}
@@ -1475,7 +1487,8 @@ Mavlink::task_main(int argc, char *argv[])
 		if (_subscribe_to_stream != nullptr) {
 			if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {
 				if (_subscribe_to_stream_rate > 0.0f) {
-					warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name, (double)_subscribe_to_stream_rate);
+					warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name,
+					      (double)_subscribe_to_stream_rate);
 
 				} else {
 					warnx("stream %s on device %s disabled", _subscribe_to_stream, _device_name);
@@ -1514,45 +1527,46 @@ Mavlink::task_main(int argc, char *argv[])
 
 			bool is_part;
 			uint8_t *read_ptr;
-            uint8_t *write_ptr;
+			uint8_t *write_ptr;
 
 			pthread_mutex_lock(&_message_buffer_mutex);
-			int available = message_buffer_get_ptr((void**)&read_ptr, &is_part);
+			int available = message_buffer_get_ptr((void **)&read_ptr, &is_part);
 			pthread_mutex_unlock(&_message_buffer_mutex);
 
 			if (available > 0) {
-                // Reconstruct message from buffer
+				// Reconstruct message from buffer
 
 				mavlink_message_t msg;
-                write_ptr = (uint8_t*)&msg;
+				write_ptr = (uint8_t *)&msg;
+
+				// Pull a single message from the buffer
+				size_t read_count = available;
 
-                // Pull a single message from the buffer
-                size_t read_count = available;
-                if (read_count > sizeof(mavlink_message_t)) {
-                    read_count = sizeof(mavlink_message_t);
-                }
+				if (read_count > sizeof(mavlink_message_t)) {
+					read_count = sizeof(mavlink_message_t);
+				}
 
-                memcpy(write_ptr, read_ptr, read_count);
+				memcpy(write_ptr, read_ptr, read_count);
 
-                // We hold the mutex until after we complete the second part of the buffer. If we don't
-                // we may end up breaking the empty slot overflow detection semantics when we mark the
-                // possibly partial read below.
-                pthread_mutex_lock(&_message_buffer_mutex);
+				// We hold the mutex until after we complete the second part of the buffer. If we don't
+				// we may end up breaking the empty slot overflow detection semantics when we mark the
+				// possibly partial read below.
+				pthread_mutex_lock(&_message_buffer_mutex);
 
 				message_buffer_mark_read(read_count);
 
 				/* write second part of buffer if there is some */
 				if (is_part && read_count < sizeof(mavlink_message_t)) {
-                    write_ptr += read_count;
-					available = message_buffer_get_ptr((void**)&read_ptr, &is_part);
-                    read_count = sizeof(mavlink_message_t) - read_count;
-                    memcpy(write_ptr, read_ptr, read_count);
+					write_ptr += read_count;
+					available = message_buffer_get_ptr((void **)&read_ptr, &is_part);
+					read_count = sizeof(mavlink_message_t) - read_count;
+					memcpy(write_ptr, read_ptr, read_count);
 					message_buffer_mark_read(available);
 				}
 
-                pthread_mutex_unlock(&_message_buffer_mutex);
+				pthread_mutex_unlock(&_message_buffer_mutex);
 
-                _mavlink_resend_uart(_channel, &msg);
+				_mavlink_resend_uart(_channel, &msg);
 			}
 		}
 
@@ -1606,6 +1620,7 @@ Mavlink::task_main(int argc, char *argv[])
 		message_buffer_destroy();
 		pthread_mutex_destroy(&_message_buffer_mutex);
 	}
+
 	/* destroy log buffer */
 	mavlink_logbuffer_destroy(&_logbuffer);
 
@@ -1627,6 +1642,7 @@ int Mavlink::start_helper(int argc, char *argv[])
 		/* out of memory */
 		res = -ENOMEM;
 		warnx("OUT OF MEM");
+
 	} else {
 		/* this will actually only return once MAVLink exits */
 		res = instance->task_main(argc, argv);
@@ -1696,10 +1712,11 @@ Mavlink::display_status()
 		printf("\ttype:\t\t");
 
 		switch (_rstatus.type) {
-			case TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
+		case TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
 			printf("3DR RADIO\n");
 			break;
-			default:
+
+		default:
 			printf("UNKNOWN RADIO\n");
 			break;
 		}
@@ -1711,6 +1728,7 @@ Mavlink::display_status()
 		printf("\tremote noise:\t%u\n", _rstatus.remote_noise);
 		printf("\trx errors:\t%u\n", _rstatus.rxerrors);
 		printf("\tfixed:\t\t%u\n", _rstatus.fixed);
+
 	} else {
 		printf("\tno telem status.\n");
 	}