uORBDevices: astyle

src/modules/uORB/uORBDevices_nuttx.cpp

@@ -68,8 +68,9 @@ uORB::DeviceNode::DeviceNode
 
 uORB::DeviceNode::~DeviceNode()
 {
-  if (_data != nullptr)
+	if (_data != nullptr) {
 		delete[] _data;
+	}
 
 }
 
@@ -99,9 +100,10 @@ uORB::DeviceNode::open(struct file *filp)
 			ret = CDev::open(filp);
 
 			/* open failed - not the publisher anymore */
-      if (ret != OK)
+			if (ret != OK) {
 				_publisher = 0;
 			}
+		}
 
 		return ret;
 	}
@@ -112,8 +114,9 @@ uORB::DeviceNode::open(struct file *filp)
 		/* allocate subscriber data */
 		SubscriberData *sd = new SubscriberData;
 
-    if (nullptr == sd)
+		if (nullptr == sd) {
 			return -ENOMEM;
+		}
 
 		memset(sd, 0, sizeof(*sd));
 
@@ -129,8 +132,9 @@ uORB::DeviceNode::open(struct file *filp)
 
 		add_internal_subscriber();
 
-    if (ret != OK)
+		if (ret != OK) {
 			delete sd;
+		}
 
 		return ret;
 	}
@@ -166,12 +170,14 @@ uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
 	SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
 
 	/* if the object has not been written yet, return zero */
-  if (_data == nullptr)
+	if (_data == nullptr) {
 		return 0;
+	}
 
 	/* if the caller's buffer is the wrong size, that's an error */
-  if (buflen != _meta->o_size)
+	if (buflen != _meta->o_size) {
 		return -EIO;
+	}
 
 	/*
 	 * Perform an atomic copy & state update
@@ -179,8 +185,9 @@ uORB::DeviceNode::read(struct file *filp, char *buffer, size_t buflen)
 	irqstate_t flags = irqsave();
 
 	/* if the caller doesn't want the data, don't give it to them */
-  if (nullptr != buffer)
+	if (nullptr != buffer) {
 		memcpy(buffer, _data, _meta->o_size);
+	}
 
 	/* track the last generation that the file has seen */
 	sd->generation = _generation;
@@ -217,20 +224,23 @@ uORB::DeviceNode::write(struct file *filp, const char *buffer, size_t buflen)
 			lock();
 
 			/* re-check size */
-      if (nullptr == _data)
+			if (nullptr == _data) {
 				_data = new uint8_t[_meta->o_size];
+			}
 
 			unlock();
 		}
 
 		/* failed or could not allocate */
-    if (nullptr == _data)
+		if (nullptr == _data) {
 			return -ENOMEM;
 		}
+	}
 
 	/* If write size does not match, that is an error */
-  if (_meta->o_size != buflen)
+	if (_meta->o_size != buflen) {
 		return -EIO;
+	}
 
 	/* Perform an atomic copy. */
 	irqstate_t flags = irqsave();
@@ -299,26 +309,28 @@ uORB::DeviceNode::publish
 	/* call the DeviceNode write method with no file pointer */
 	ret = DeviceNode->write(nullptr, (const char *)data, meta->o_size);
 
-  if (ret < 0)
+	if (ret < 0) {
 		return ERROR;
+	}
 
 	if (ret != (int)meta->o_size) {
 		errno = EIO;
 		return ERROR;
 	}
+
 	/*
 	 * if the write is successful, send the data over the Multi-ORB link
 	 */
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-  if( ch != nullptr )
-  {
-    if( ch->send_message( meta->o_name, meta->o_size, (uint8_t*)data ) != 0 )
-    {
+
+	if (ch != nullptr) {
+		if (ch->send_message(meta->o_name, meta->o_size, (uint8_t *)data) != 0) {
 			warnx("[uORB::DeviceNode::publish(%d)]: Error Sending [%s] topic data over comm_channel",
 			      __LINE__, meta->o_name);
 			return ERROR;
 		}
 	}
+
 	return OK;
 }
 
@@ -330,8 +342,9 @@ uORB::DeviceNode::poll_state(struct file *filp)
 	/*
 	 * If the topic appears updated to the subscriber, say so.
 	 */
-  if (appears_updated(sd))
+	if (appears_updated(sd)) {
 		return POLLIN;
+	}
 
 	return 0;
 }
@@ -344,9 +357,10 @@ uORB::DeviceNode::poll_notify_one(struct pollfd *fds, pollevent_t events)
 	/*
 	 * If the topic looks updated to the subscriber, go ahead and notify them.
 	 */
-  if (appears_updated(sd))
+	if (appears_updated(sd)) {
 		CDev::poll_notify_one(fds, events);
 	}
+}
 
 bool
 uORB::DeviceNode::appears_updated(SubscriberData *sd)
@@ -397,8 +411,9 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
 		 * must have collected the update we reported, otherwise
 		 * update_reported would still be true.
 		 */
-    if (!hrt_called(&sd->update_call))
+		if (!hrt_called(&sd->update_call)) {
 			break;
+		}
 
 		/*
 		 * Make sure that we don't consider the topic to be updated again
@@ -450,8 +465,8 @@ void uORB::DeviceNode::add_internal_subscriber()
 {
 	_subscriber_count++;
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-  if( ch != nullptr && _subscriber_count > 0 )
-  {
+
+	if (ch != nullptr && _subscriber_count > 0) {
 		ch->add_subscription(_meta->o_name, 1);
 	}
 }
@@ -462,8 +477,8 @@ void uORB::DeviceNode::remove_internal_subscriber()
 {
 	_subscriber_count--;
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-  if( ch != nullptr && _subscriber_count == 0 )
-  {
+
+	if (ch != nullptr && _subscriber_count == 0) {
 		ch->remove_subscription(_meta->o_name);
 	}
 }
@@ -476,8 +491,8 @@ int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz )
 	// the remote entity.
 	// send the data to the remote entity.
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-  if( _data != nullptr && ch != nullptr ) // _data will not be null if there is a publisher.
-  {
+
+	if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
 		ch->send_message(_meta->o_name, _meta->o_size, _data);
 	}
 
@@ -496,8 +511,8 @@ int16_t uORB::DeviceNode::process_remove_subscription()
 int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data)
 {
 	int16_t ret = -1;
-  if( length != (int32_t)(_meta->o_size) )
-  {
+
+	if (length != (int32_t)(_meta->o_size)) {
 		warnx("[uORB::DeviceNode::process_received_message(%d)]Error:[%s] Received DataLength[%d] != ExpectedLen[%d]",
 		      __LINE__, _meta->o_name, (int)length, (int)_meta->o_size);
 		return ERROR;
@@ -506,8 +521,9 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t* data
 	/* call the devnode write method with no file pointer */
 	ret = write(nullptr, (const char *)data, _meta->o_size);
 
-  if (ret < 0)
+	if (ret < 0) {
 		return ERROR;
+	}
 
 	if (ret != (int)_meta->o_size) {
 		errno = EIO;
@@ -565,6 +581,7 @@ uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
 			/* try for topic groups */
 			const unsigned max_group_tries = (adv->instance != nullptr) ? ORB_MULTI_MAX_INSTANCES : 1;
 			unsigned group_tries = 0;
+
 			do {
 				/* if path is modifyable change try index */
 				if (adv->instance != nullptr) {
@@ -604,9 +621,8 @@ uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
 					delete node;
 					free((void *)objname);
 					free((void *)devpath);
-        }
-        else
-        {
+
+				} else {
 					// add to the node map;.
 					_node_map.insert(nodepath, node);
 				}
@@ -634,10 +650,11 @@ uORB::DeviceMaster::ioctl(struct file *filp, int cmd, unsigned long arg)
 uORB::DeviceNode *uORB::DeviceMaster::GetDeviceNode(const char *nodepath)
 {
 	uORB::DeviceNode *rc = nullptr;
-  if( _node_map.find( nodepath ) )
-  {
+
+	if (_node_map.find(nodepath)) {
 		rc = _node_map.get(nodepath);
 	}
+
 	return rc;
 }
 

src/modules/uORB/uORBDevices_nuttx.hpp

@@ -182,7 +182,8 @@ private:
 
 private: // private class methods.
 
-  SubscriberData    *filp_to_sd(struct file *filp) {
+	SubscriberData    *filp_to_sd(struct file *filp)
+	{
 		SubscriberData *sd = (SubscriberData *)(filp->f_priv);
 		return sd;
 	}

src/modules/uORB/uORBDevices_posix.cpp

@@ -49,12 +49,14 @@ std::map<std::string, uORB::DeviceNode*> uORB::DeviceMaster::_node_map;
 uORB::DeviceNode::SubscriberData  *uORB::DeviceNode::filp_to_sd(device::file_t *filp)
 {
 	uORB::DeviceNode::SubscriberData *sd;
+
 	if (filp) {
 		sd = (uORB::DeviceNode::SubscriberData *)(filp->priv);
-  }
-  else {
+
+	} else {
 		sd = 0;
 	}
+
 	return sd;
 }
 
@@ -74,8 +76,9 @@ uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name,
 
 uORB::DeviceNode::~DeviceNode()
 {
-  if (_data != nullptr)
+	if (_data != nullptr) {
 		delete[] _data;
+	}
 
 }
 
@@ -105,9 +108,10 @@ uORB::DeviceNode::open(device::file_t *filp)
 			ret = VDev::open(filp);
 
 			/* open failed - not the publisher anymore */
-      if (ret != PX4_OK)
+			if (ret != PX4_OK) {
 				_publisher = 0;
 			}
+		}
 
 		return ret;
 	}
@@ -118,8 +122,9 @@ uORB::DeviceNode::open(device::file_t *filp)
 		/* allocate subscriber data */
 		SubscriberData *sd = new SubscriberData;
 
-    if (nullptr == sd)
+		if (nullptr == sd) {
 			return -ENOMEM;
+		}
 
 		memset(sd, 0, sizeof(*sd));
 
@@ -177,12 +182,14 @@ uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
 	SubscriberData *sd = (SubscriberData *)filp_to_sd(filp);
 
 	/* if the object has not been written yet, return zero */
-  if (_data == nullptr)
+	if (_data == nullptr) {
 		return 0;
+	}
 
 	/* if the caller's buffer is the wrong size, that's an error */
-  if (buflen != _meta->o_size)
+	if (buflen != _meta->o_size) {
 		return -EIO;
+	}
 
 	/*
 	 * Perform an atomic copy & state update
@@ -190,8 +197,9 @@ uORB::DeviceNode::read(device::file_t *filp, char *buffer, size_t buflen)
 	lock();
 
 	/* if the caller doesn't want the data, don't give it to them */
-  if (nullptr != buffer)
+	if (nullptr != buffer) {
 		memcpy(buffer, _data, _meta->o_size);
+	}
 
 	/* track the last generation that the file has seen */
 	sd->generation = _generation;
@@ -227,19 +235,22 @@ uORB::DeviceNode::write(device::file_t *filp, const char *buffer, size_t buflen)
 		lock();
 
 		/* re-check size */
-    if (nullptr == _data)
+		if (nullptr == _data) {
 			_data = new uint8_t[_meta->o_size];
+		}
 
 		unlock();
 
 		/* failed or could not allocate */
-    if (nullptr == _data)
+		if (nullptr == _data) {
 			return -ENOMEM;
 		}
+	}
 
 	/* If write size does not match, that is an error */
-  if (_meta->o_size != buflen)
+	if (_meta->o_size != buflen) {
 		return -EIO;
+	}
 
 	/* Perform an atomic copy. */
 	lock();
@@ -312,8 +323,9 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
 	/* call the devnode write method with no file pointer */
 	ret = devnode->write(nullptr, (const char *)data, meta->o_size);
 
-  if (ret < 0)
+	if (ret < 0) {
 		return ERROR;
+	}
 
 	if (ret != (int)meta->o_size) {
 		errno = EIO;
@@ -324,15 +336,15 @@ uORB::DeviceNode::publish(const orb_metadata *meta, orb_advert_t handle, const v
 	 * if the write is successful, send the data over the Multi-ORB link
 	 */
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-  if( ch != nullptr )
-  {
-    if( ch->send_message( meta->o_name, meta->o_size, (uint8_t*)data ) != 0 )
-    {
+
+	if (ch != nullptr) {
+		if (ch->send_message(meta->o_name, meta->o_size, (uint8_t *)data) != 0) {
 			warnx("[uORB::DeviceNode::publish(%d)]: Error Sending [%s] topic data over comm_channel",
 			      __LINE__, meta->o_name);
 			return ERROR;
 		}
 	}
+
 	return PX4_OK;
 }
 
@@ -345,8 +357,9 @@ uORB::DeviceNode::poll_state(device::file_t *filp)
 	/*
 	 * If the topic appears updated to the subscriber, say so.
 	 */
-  if (appears_updated(sd))
+	if (appears_updated(sd)) {
 		return POLLIN;
+	}
 
 	return 0;
 }
@@ -360,9 +373,10 @@ uORB::DeviceNode::poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events)
 	/*
 	 * If the topic looks updated to the subscriber, go ahead and notify them.
 	 */
-  if (appears_updated(sd))
+	if (appears_updated(sd)) {
 		VDev::poll_notify_one(fds, events);
 	}
+}
 
 bool
 uORB::DeviceNode::appears_updated(SubscriberData *sd)
@@ -407,6 +421,7 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
 // FIXME - the calls to hrt_called and hrt_call_after seem not to work in the
 //         POSIX build
 #ifndef __PX4_POSIX
+
 		/*
 		 * If the interval timer is still running, the topic should not
 		 * appear updated, even though at this point we know that it has.
@@ -414,8 +429,9 @@ uORB::DeviceNode::appears_updated(SubscriberData *sd)
 		 * must have collected the update we reported, otherwise
 		 * update_reported would still be true.
 		 */
-    if (!hrt_called(&sd->update_call))
+		if (!hrt_called(&sd->update_call)) {
 			break;
+		}
 
 		/*
 		 * Make sure that we don't consider the topic to be updated again
@@ -466,8 +482,8 @@ void uORB::DeviceNode::add_internal_subscriber()
 {
 	_subscriber_count++;
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-  if( ch != nullptr && _subscriber_count > 0 )
-  {
+
+	if (ch != nullptr && _subscriber_count > 0) {
 		ch->add_subscription(_meta->o_name, 1);
 	}
 }
@@ -478,8 +494,8 @@ void uORB::DeviceNode::remove_internal_subscriber()
 {
 	_subscriber_count--;
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-  if( ch != nullptr && _subscriber_count == 0 )
-  {
+
+	if (ch != nullptr && _subscriber_count == 0) {
 		ch->remove_subscription(_meta->o_name);
 	}
 }
@@ -492,8 +508,8 @@ int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz )
 	// the remote entity.
 	// send the data to the remote entity.
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-  if( _data != nullptr && ch != nullptr ) // _data will not be null if there is a publisher.
-  {
+
+	if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher.
 		ch->send_message(_meta->o_name, _meta->o_size, _data);
 	}
 
@@ -512,8 +528,8 @@ int16_t uORB::DeviceNode::process_remove_subscription()
 int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data)
 {
 	int16_t ret = -1;
-  if( length != (int32_t)(_meta->o_size) )
-  {
+
+	if (length != (int32_t)(_meta->o_size)) {
 		warnx("[uORB::DeviceNode::process_received_message(%d)]Error:[%s] Received DataLength[%d] != ExpectedLen[%d]",
 		      __LINE__, _meta->o_name, (int)length, (int)_meta->o_size);
 		return ERROR;
@@ -522,8 +538,9 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t* data
 	/* call the devnode write method with no file pointer */
 	ret = write(nullptr, (const char *)data, _meta->o_size);
 
-  if (ret < 0)
+	if (ret < 0) {
 		return ERROR;
+	}
 
 	if (ret != (int)_meta->o_size) {
 		errno = EIO;
@@ -582,6 +599,7 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 			/* try for topic groups */
 			const unsigned max_group_tries = (adv->instance != nullptr) ? ORB_MULTI_MAX_INSTANCES : 1;
 			unsigned group_tries = 0;
+
 			do {
 				/* if path is modifyable change try index */
 				if (adv->instance != nullptr) {
@@ -624,9 +642,8 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
 					delete node;
 					free((void *)objname);
 					free((void *)devpath);
-        }
-        else
-        {
+
+				} else {
 					// add to the node map;.
 					_node_map[std::string(nodepath)] = node;
 				}
@@ -656,9 +673,10 @@ uORB::DeviceNode* uORB::DeviceMaster::GetDeviceNode( const char *nodepath )
 {
 	uORB::DeviceNode *rc = nullptr;
 	std::string np(nodepath);
-  if( _node_map.find( np ) != _node_map.end() )
-  {
+
+	if (_node_map.find(np) != _node_map.end()) {
 		rc = _node_map[np];
 	}
+
 	return rc;
 }