Merge pull request #2501 from mcharleb/whitespace-cleanup

Code cleanup - Whitespace changes

src/modules/uORB/ORBMap.hpp

@@ -39,8 +39,8 @@
 
 namespace uORB
 {
-   class DeviceNode;
-   class ORBMap;
+class DeviceNode;
+class ORBMap;
 }
 
 class uORB::ORBMap
@@ -48,7 +48,7 @@ class uORB::ORBMap
 public:
 	struct Node {
 		struct Node *next;
-		const char * node_name;
+		const char *node_name;
 		uORB::DeviceNode *node;
 	};
 
@@ -56,9 +56,11 @@ public:
 		_top(nullptr),
 		_end(nullptr)
 	{ }
-	~ORBMap() {
+	~ORBMap()
+	{
 		while (_top != nullptr) {
 			unlinkNext(_top);
+
 			if (_top->next == nullptr) {
 				free((void *)_top->node_name);
 				free(_top);
@@ -67,20 +69,26 @@ public:
 			}
 		}
 	}
-	void insert(const char *node_name, uORB::DeviceNode*node)
+	void insert(const char *node_name, uORB::DeviceNode *node)
 	{
 		Node **p;
-		if (_top == nullptr)
+
+		if (_top == nullptr) {
 			p = &_top;
-		else
+
+		} else {
 			p = &_end->next;
+		}
 
 		*p = (Node *)malloc(sizeof(Node));
-		if (_end)
+
+		if (_end) {
 			_end = _end->next;
-		else {
+
+		} else {
 			_end = _top;
 		}
+
 		_end->next = nullptr;
 		_end->node_name = strdup(node_name);
 		_end->node = node;
@@ -89,34 +97,42 @@ public:
 	bool find(const char *node_name)
 	{
 		Node *p = _top;
+
 		while (p) {
 			if (strcmp(p->node_name, node_name) == 0) {
 				return true;
 			}
+
 			p = p->next;
 		}
+
 		return false;
 	}
 
-	uORB::DeviceNode* get(const char *node_name)
+	uORB::DeviceNode *get(const char *node_name)
 	{
 		Node *p = _top;
+
 		while (p) {
 			if (strcmp(p->node_name, node_name) == 0) {
 				return p->node;
 			}
+
 			p = p->next;
 		}
+
 		return nullptr;
 	}
 
 	void unlinkNext(Node *a)
 	{
 		Node *b = a->next;
+
 		if (b != nullptr) {
 			if (_end == b) {
 				_end = a;
 			}
+
 			a->next = b->next;
 			free((void *)b->node_name);
 			free(b);

src/modules/uORB/ORBSet.hpp

@@ -38,37 +38,45 @@ class ORBSet
 public:
 	struct Node {
 		struct Node *next;
-		const char * node_name;
+		const char *node_name;
 	};
 
-	ORBSet() : 
+	ORBSet() :
 		_top(nullptr),
 		_end(nullptr)
 	{ }
-	~ORBSet() {
+	~ORBSet()
+	{
 		while (_top != nullptr) {
 			unlinkNext(_top);
+
 			if (_top->next == nullptr) {
 				free((void *)_top->node_name);
 				free(_top);
 				_top = nullptr;
 			}
-		}				
+		}
 	}
 	void insert(const char *node_name)
 	{
 		Node **p;
-		if (_top == nullptr)
+
+		if (_top == nullptr) {
 			p = &_top;
-		else 
+
+		} else {
 			p = &_end->next;
+		}
 
 		*p = (Node *)malloc(sizeof(Node));
-		if (_end)
+
+		if (_end) {
 			_end = _end->next;
-		else {
+
+		} else {
 			_end = _top;
 		}
+
 		_end->next = nullptr;
 		_end->node_name = strdup(node_name);
 	}
@@ -76,34 +84,42 @@ public:
 	bool find(const char *node_name)
 	{
 		Node *p = _top;
+
 		while (p) {
 			if (strcmp(p->node_name, node_name) == 0) {
 				return true;
 			}
+
 			p = p->next;
 		}
+
 		return false;
 	}
 
 	bool erase(const char *node_name)
 	{
 		Node *p = _top;
+
 		if (_top && (strcmp(_top->node_name, node_name) == 0)) {
 			p = _top->next;
 			free((void *)_top->node_name);
 			free(_top);
 			_top = p;
+
 			if (_top == nullptr) {
 				_end = nullptr;
 			}
+
 			return true;
 		}
+
 		while (p->next) {
 			if (strcmp(p->next->node_name, node_name) == 0) {
 				unlinkNext(p);
 				return true;
 			}
 		}
+
 		return nullptr;
 	}
 
@@ -112,10 +128,12 @@ private:
 	void unlinkNext(Node *a)
 	{
 		Node *b = a->next;
+
 		if (b != nullptr) {
 			if (_end == b) {
 				_end = a;
 			}
+
 			a->next = b->next;
 			free((void *)b->node_name);
 			free(b);

src/modules/uORB/Publication.cpp

@@ -51,31 +51,35 @@
 #include "topics/tecs_status.h"
 #include "topics/rc_channels.h"
 
-namespace uORB {
+namespace uORB
+{
 
 template<class T>
 Publication<T>::Publication(
 	const struct orb_metadata *meta,
-	List<PublicationNode *> * list) :
+	List<PublicationNode *> *list) :
 	T(), // initialize data structure to zero
-	PublicationNode(meta, list) {
+	PublicationNode(meta, list)
+{
 }
 
 template<class T>
 Publication<T>::~Publication() {}
 
 template<class T>
-void * Publication<T>::getDataVoidPtr() {
+void *Publication<T>::getDataVoidPtr()
+{
 	return (void *)(T *)(this);
 }
 
 
 PublicationNode::PublicationNode(const struct orb_metadata *meta,
-	List<PublicationNode *> * list) :
-		PublicationBase(meta) {
-		if (list != nullptr) list->add(this);
+				 List<PublicationNode *> *list) :
+	PublicationBase(meta)
+{
+	if (list != nullptr) { list->add(this); }
 }
-	
+
 
 template class __EXPORT Publication<vehicle_attitude_s>;
 template class __EXPORT Publication<vehicle_local_position_s>;

src/modules/uORB/Publication.hpp

@@ -64,16 +64,19 @@ public:
 	 */
 	PublicationBase(const struct orb_metadata *meta) :
 		_meta(meta),
-		_handle(nullptr) {
+		_handle(nullptr)
+	{
 	}
 
 	/**
 	 * Update the struct
 	 * @param data The uORB message struct we are updating.
 	 */
-	void update(void * data) {
+	void update(void *data)
+	{
 		if (_handle != nullptr) {
 			orb_publish(getMeta(), getHandle(), data);
+
 		} else {
 			setHandle(orb_advertise(getMeta(), data));
 		}
@@ -82,7 +85,8 @@ public:
 	/**
 	 * Deconstructor
 	 */
-	virtual ~PublicationBase() {
+	virtual ~PublicationBase()
+	{
 	}
 // accessors
 	const struct orb_metadata *getMeta() { return _meta; }
@@ -95,9 +99,9 @@ protected:
 	orb_advert_t _handle;
 private:
 	// forbid copy
-	PublicationBase(const PublicationBase&) : _meta(), _handle() {};
+	PublicationBase(const PublicationBase &) : _meta(), _handle() {};
 	// forbid assignment
-	PublicationBase& operator = (const PublicationBase &);
+	PublicationBase &operator = (const PublicationBase &);
 };
 
 /**
@@ -124,7 +128,7 @@ public:
 	 * 	that this should be appended to.
 	 */
 	PublicationNode(const struct orb_metadata *meta,
-		List<PublicationNode *> * list=nullptr);
+			List<PublicationNode *> *list = nullptr);
 
 	/**
 	 * This function is the callback for list traversal
@@ -151,7 +155,7 @@ public:
 	 * 	list during construction
 	 */
 	Publication(const struct orb_metadata *meta,
-		List<PublicationNode *> * list=nullptr);
+		    List<PublicationNode *> *list = nullptr);
 
 	/**
 	 * Deconstructor
@@ -170,7 +174,8 @@ public:
 	/**
 	 * Create an update function that uses the embedded struct.
 	 */
-	void update() {
+	void update()
+	{
 		PublicationBase::update(getDataVoidPtr());
 	}
 };

src/modules/uORB/topics/mission.h

@@ -50,17 +50,17 @@
 
 /* compatible to mavlink MAV_CMD */
 enum NAV_CMD {
-	NAV_CMD_IDLE=0,
-	NAV_CMD_WAYPOINT=16,
-	NAV_CMD_LOITER_UNLIMITED=17,
-	NAV_CMD_LOITER_TURN_COUNT=18,
-	NAV_CMD_LOITER_TIME_LIMIT=19,
-	NAV_CMD_RETURN_TO_LAUNCH=20,
-	NAV_CMD_LAND=21,
-	NAV_CMD_TAKEOFF=22,
-	NAV_CMD_ROI=80,
-	NAV_CMD_PATHPLANNING=81,
-	NAV_CMD_DO_JUMP=177
+	NAV_CMD_IDLE = 0,
+	NAV_CMD_WAYPOINT = 16,
+	NAV_CMD_LOITER_UNLIMITED = 17,
+	NAV_CMD_LOITER_TURN_COUNT = 18,
+	NAV_CMD_LOITER_TIME_LIMIT = 19,
+	NAV_CMD_RETURN_TO_LAUNCH = 20,
+	NAV_CMD_LAND = 21,
+	NAV_CMD_TAKEOFF = 22,
+	NAV_CMD_ROI = 80,
+	NAV_CMD_PATHPLANNING = 81,
+	NAV_CMD_DO_JUMP = 177
 };
 
 enum ORIGIN {
@@ -102,8 +102,7 @@ struct mission_item_s {
  * This topic used to notify navigator about mission changes, mission itself and new mission state
  * must be stored in dataman before publication.
  */
-struct mission_s
-{
+struct mission_s {
 	int dataman_id;			/**< default 0, there are two offboard storage places in the dataman: 0 or 1 */
 	unsigned count;			/**< count of the missions stored in the dataman */
 	int current_seq;				/**< default -1, start at the one changed latest */

src/modules/uORB/topics/multirotor_motor_limits.h

@@ -52,10 +52,10 @@
  * Motor limits
  */
 struct multirotor_motor_limits_s {
-        uint8_t lower_limit	: 1; // at least one actuator command has saturated on the lower limit
-        uint8_t upper_limit	: 1; // at least one actuator command has saturated on the upper limit
-        uint8_t yaw			: 1; // yaw limit reached
-        uint8_t reserved	: 5; // reserved
+	uint8_t lower_limit	: 1; // at least one actuator command has saturated on the lower limit
+	uint8_t upper_limit	: 1; // at least one actuator command has saturated on the upper limit
+	uint8_t yaw			: 1; // yaw limit reached
+	uint8_t reserved	: 5; // reserved
 };
 
 /**

src/modules/uORB/uORB.cpp

@@ -62,7 +62,7 @@
  */
 orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
 {
-  return uORB::Manager::get_instance()->orb_advertise( meta, data );
+	return uORB::Manager::get_instance()->orb_advertise(meta, data);
 }
 
 /**
@@ -91,9 +91,9 @@ orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
  *      this function will return -1 and set errno to ENOENT.
  */
 orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-          int priority)
+				 int priority)
 {
-  return uORB::Manager::get_instance()->orb_advertise_multi( meta, data, instance, priority );
+	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, priority);
 }
 
 
@@ -112,7 +112,7 @@ orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *da
  */
 int  orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
 {
-  return uORB::Manager::get_instance()->orb_publish( meta, handle, data );
+	return uORB::Manager::get_instance()->orb_publish(meta, handle, data);
 }
 
 /**
@@ -143,7 +143,7 @@ int  orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const voi
  */
 int  orb_subscribe(const struct orb_metadata *meta)
 {
-  return uORB::Manager::get_instance()->orb_subscribe( meta );
+	return uORB::Manager::get_instance()->orb_subscribe(meta);
 }
 
 /**
@@ -177,7 +177,7 @@ int  orb_subscribe(const struct orb_metadata *meta)
  */
 int  orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
 {
-  return uORB::Manager::get_instance()->orb_subscribe_multi( meta, instance );
+	return uORB::Manager::get_instance()->orb_subscribe_multi(meta, instance);
 }
 
 /**
@@ -188,7 +188,7 @@ int  orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
  */
 int  orb_unsubscribe(int handle)
 {
-  return uORB::Manager::get_instance()->orb_unsubscribe( handle );
+	return uORB::Manager::get_instance()->orb_unsubscribe(handle);
 }
 
 /**
@@ -209,7 +209,7 @@ int  orb_unsubscribe(int handle)
  */
 int  orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
 {
-  return uORB::Manager::get_instance()->orb_copy( meta, handle, buffer );
+	return uORB::Manager::get_instance()->orb_copy(meta, handle, buffer);
 }
 
 /**
@@ -232,7 +232,7 @@ int  orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
  */
 int  orb_check(int handle, bool *updated)
 {
-  return uORB::Manager::get_instance()->orb_check( handle, updated );
+	return uORB::Manager::get_instance()->orb_check(handle, updated);
 }
 
 /**
@@ -245,7 +245,7 @@ int  orb_check(int handle, bool *updated)
  */
 int  orb_stat(int handle, uint64_t *time)
 {
-  return uORB::Manager::get_instance()->orb_stat( handle, time );
+	return uORB::Manager::get_instance()->orb_stat(handle, time);
 }
 
 /**
@@ -257,7 +257,7 @@ int  orb_stat(int handle, uint64_t *time)
  */
 int  orb_exists(const struct orb_metadata *meta, int instance)
 {
-  return uORB::Manager::get_instance()->orb_exists( meta, instance );
+	return uORB::Manager::get_instance()->orb_exists(meta, instance);
 }
 
 /**
@@ -272,7 +272,7 @@ int  orb_exists(const struct orb_metadata *meta, int instance)
  */
 int  orb_priority(int handle, int *priority)
 {
-  return uORB::Manager::get_instance()->orb_priority( handle, priority );
+	return uORB::Manager::get_instance()->orb_priority(handle, priority);
 }
 
 /**
@@ -295,6 +295,6 @@ int  orb_priority(int handle, int *priority)
  */
 int  orb_set_interval(int handle, unsigned interval)
 {
-  return uORB::Manager::get_instance()->orb_set_interval( handle, interval );
+	return uORB::Manager::get_instance()->orb_set_interval(handle, interval);
 }
 

src/modules/uORB/uORB.h

@@ -135,7 +135,7 @@ __BEGIN_DECLS
  * a file-descriptor-based handle would not otherwise be in scope for the
  * publisher.
  */
-typedef void *	orb_advert_t;
+typedef void 	*orb_advert_t;
 
 /**
  * Advertise as the publisher of a topic.

src/modules/uORB/uORBCommon.hpp

@@ -43,23 +43,23 @@
 
 namespace uORB
 {
-  static const unsigned orb_maxpath = 64;
+static const unsigned orb_maxpath = 64;
 
-  #ifdef ERROR
-    # undef ERROR
-  #endif
-  /* ERROR is not defined for c++ */
-  const int ERROR = -1;
+#ifdef ERROR
+# undef ERROR
+#endif
+/* ERROR is not defined for c++ */
+const int ERROR = -1;
 
-  enum Flavor {
-    PUBSUB,
-    PARAM
-  };
+enum Flavor {
+	PUBSUB,
+	PARAM
+};
 
-  struct orb_advertdata {
-    const struct orb_metadata *meta;
-    int *instance;
-    int priority;
-  };
+struct orb_advertdata {
+	const struct orb_metadata *meta;
+	int *instance;
+	int priority;
+};
 }
 #endif // _uORBCommon_hpp_

src/modules/uORB/uORBCommunicator.hpp

@@ -36,10 +36,11 @@
 
 #include <stdint.h>
 
+
 namespace uORBCommunicator
 {
-	class IChannel;
-	class IChannelRxHandler;
+class IChannel;
+class IChannelRxHandler;
 }
 
 /**
@@ -69,7 +70,9 @@ public:
 	 * 		Note: This does not mean that the receiver as received it.
 	 *  otherwise = failure.
 	 */
-	virtual int16_t add_subscription( const char *messageName, int32_t msgRateInHz ) = 0;
+
+	virtual int16_t add_subscription(const char *messageName, int32_t msgRateInHz) = 0;
+
 
 
 	/**
@@ -83,12 +86,14 @@ public:
 	 * 		Note: This does not necessarily mean that the receiver as received it.
 	 *  otherwise = failure.
 	 */
-	virtual int16_t remove_subscription( const char *messageName ) = 0;
+
+	virtual int16_t remove_subscription(const char *messageName) = 0;
+
 
 	/**
 	 * Register Message Handler.  This is internal for the IChannel implementer*
 	 */
-	virtual int16_t register_handler( uORBCommunicator::IChannelRxHandler* handler ) = 0;
+	virtual int16_t register_handler(uORBCommunicator::IChannelRxHandler *handler) = 0;
 
 
 	//=========================================================================
@@ -109,7 +114,9 @@ public:
 	 * 		Note: This does not mean that the receiver as received it.
 	 *  otherwise = failure.
 	 */
-	virtual int16_t send_message( const char *messageName, int32_t length, uint8_t* data) = 0;
+
+	virtual int16_t send_message(const char *messageName, int32_t length, uint8_t *data) = 0;
+
 };
 
 /**
@@ -132,7 +139,9 @@ public:
 	 *  	handler.
 	 *  otherwise = failure.
 	 */
-	virtual int16_t process_add_subscription( const char *messageName, int32_t msgRateInHz ) = 0;
+
+	virtual int16_t process_add_subscription(const char *messageName, int32_t msgRateInHz) = 0;
+
 
 	/**
 	 * Interface to process a received control msg to remove subscription
@@ -144,7 +153,9 @@ public:
 	 *  	handler.
 	 *  otherwise = failure.
 	 */
-	virtual int16_t process_remove_subscription( const char *messageName ) = 0;
+
+	virtual int16_t process_remove_subscription(const char *messageName) = 0;
+
 
 	/**
 	 * Interface to process the received data message.
@@ -160,7 +171,9 @@ public:
 	 *  	handler.
 	 *  otherwise = failure.
 	 */
-	virtual int16_t process_received_message( const char *messageName, int32_t length, uint8_t* data ) = 0;
+
+	virtual int16_t process_received_message(const char *messageName, int32_t length, uint8_t *data) = 0;
+
 };
 
 #endif /* _uORBCommunicator_hpp_ */

src/modules/uORB/uORBDevices_nuttx.cpp

@@ -639,10 +639,12 @@ uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
 						if ((existing_node != nullptr) && !(existing_node->is_published())) {
 							/* nothing has been published yet, lets claim it */
 							ret = OK;
+
 						} else {
 							/* otherwise: data has already been published, keep looking */
 						}
 					}
+
 					/* also discard the name now */
 					free((void *)objname);
 					free((void *)devpath);

src/modules/uORB/uORBDevices_posix.cpp

@@ -655,10 +655,12 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 						if ((existing_node != nullptr) && !(existing_node->is_published())) {
 							/* nothing has been published yet, lets claim it */
 							ret = PX4_OK;
+
 						} else {
 							/* otherwise: data has already been published, keep looking */
 						}
 					}
+
 					/* also discard the name now */
 					free((void *)objname);
 					free((void *)devpath);

src/modules/uORB/uORBTest_UnitTest.cpp

@@ -141,17 +141,23 @@ int uORBTest::UnitTest::pubsublatency_main(void)
 int uORBTest::UnitTest::test()
 {
 	int ret = test_single();
+
 	if (ret != OK) {
 		return ret;
 	}
+
 	ret = test_multi();
+
 	if (ret != OK) {
 		return ret;
 	}
+
 	ret = test_multi_reversed();
+
 	if (ret != OK) {
 		return ret;
 	}
+
 	return OK;
 }
 
@@ -323,16 +329,21 @@ int uORBTest::UnitTest::test_multi_reversed()
 
 	/* Subscribe first and advertise afterwards. */
 	int sfd2 = orb_subscribe_multi(ORB_ID(orb_multitest), 2);
+
 	if (sfd2 < 0) {
 		return test_fail("sub. id2: ret: %d", sfd2);
 	}
 
 	struct orb_test t, u;
+
 	t.val = 0;
+
 	int instance2;
+
 	orb_advert_t pfd2 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2, ORB_PRIO_MAX);
 
 	int instance3;
+
 	orb_advert_t pfd3 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3, ORB_PRIO_MIN);
 
 	test_note("advertised");

unittests/uorb_unittests/uORBCommunicatorMock.hpp

@@ -1,3 +1,4 @@
+
 /****************************************************************************
  *
  * Copyright (c) 2015 Mark Charlebois. All rights reserved.
@@ -75,7 +76,6 @@ class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
    */
   virtual int16_t add_subscription( const char *messageName, int32_t msgRateInHz );
 
-
   /**
    * @brief Interface to notify the remote entity of removal of a subscription
    *