AP_HAL_SITL: Scheduler remove unreachable code & minor fix

usleep wasn't reached since synthetic clock is always used
correct style
make constructor explicit
use c++ cast

libraries/AP_HAL_SITL/Scheduler.cpp

@@ -5,7 +5,6 @@
 #include "Scheduler.h"
 #include "UARTDriver.h"
 #include <sys/time.h>
-#include <unistd.h>
 #include <fenv.h>
 
 using namespace HALSITL;
@@ -43,11 +42,7 @@ void Scheduler::delay_microseconds(uint16_t usec)
         if (dtime >= usec) {
             break;
         }
-        if (_stopped_clock_usec) {
-            _sitlState->wait_clock(start + usec);
-        } else {
-            usleep(usec - dtime);
-        }
+        _sitlState->wait_clock(start + usec);
     } while (true);
 }
 
@@ -83,7 +78,6 @@ void Scheduler::register_timer_process(AP_HAL::MemberProc proc)
         _timer_proc[_num_timer_procs] = proc;
         _num_timer_procs++;
     }
-
 }
 
 void Scheduler::register_io_process(AP_HAL::MemberProc proc)
@@ -98,7 +92,6 @@ void Scheduler::register_io_process(AP_HAL::MemberProc proc)
         _io_proc[_num_io_procs] = proc;
         _num_io_procs++;
     }
-
 }
 
 void Scheduler::register_timer_failsafe(AP_HAL::Proc failsafe, uint32_t period_us)
@@ -141,10 +134,11 @@ void Scheduler::system_initialized() {
 }
 
 void Scheduler::sitl_end_atomic() {
-    if (_nested_atomic_ctr == 0)
+    if (_nested_atomic_ctr == 0) {
         hal.uartA->println("NESTED ATOMIC ERROR");
-    else
+    } else {
         _nested_atomic_ctr--;
+    }
 }
 
 void Scheduler::reboot(bool hold_in_bootloader)

libraries/AP_HAL_SITL/Scheduler.h

@@ -10,39 +10,39 @@
 /* Scheduler implementation: */
 class HALSITL::Scheduler : public AP_HAL::Scheduler {
 public:
-    Scheduler(SITL_State *sitlState);
+    explicit Scheduler(SITL_State *sitlState);
     static Scheduler *from(AP_HAL::Scheduler *scheduler) {
         return static_cast<HALSITL::Scheduler*>(scheduler);
     }
 
     /* AP_HAL::Scheduler methods */
 
-    void     init();
-    void     delay(uint16_t ms);
-    void     delay_microseconds(uint16_t us);
-    void     register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
+    void init();
+    void delay(uint16_t ms);
+    void delay_microseconds(uint16_t us);
+    void register_delay_callback(AP_HAL::Proc, uint16_t min_time_ms);
 
-    void     register_timer_process(AP_HAL::MemberProc);
-    void     register_io_process(AP_HAL::MemberProc);
-    void     suspend_timer_procs();
-    void     resume_timer_procs();
+    void register_timer_process(AP_HAL::MemberProc);
+    void register_io_process(AP_HAL::MemberProc);
+    void suspend_timer_procs();
+    void resume_timer_procs();
 
-    bool     in_timerprocess();
+    bool in_timerprocess();
 
-    void     register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
+    void register_timer_failsafe(AP_HAL::Proc, uint32_t period_us);
 
-    void     system_initialized();
+    void system_initialized();
 
-    void     reboot(bool hold_in_bootloader);
+    void reboot(bool hold_in_bootloader);
 
-    bool     interrupts_are_blocked(void) {
+    bool interrupts_are_blocked(void) {
         return _nested_atomic_ctr != 0;
     }
 
-    void     sitl_begin_atomic() {
+    void sitl_begin_atomic() {
         _nested_atomic_ctr++;
     }
-    void     sitl_end_atomic();
+    void sitl_end_atomic();
 
     static void timer_event() {
         _run_timer_procs(true);
@@ -67,16 +67,12 @@ private:
     static AP_HAL::MemberProc _io_proc[SITL_SCHEDULER_MAX_TIMER_PROCS];
     static uint8_t _num_timer_procs;
     static uint8_t _num_io_procs;
-    static bool    _in_timer_proc;
-    static bool    _in_io_proc;
+    static bool _in_timer_proc;
+    static bool _in_io_proc;
 
     void stop_clock(uint64_t time_usec);
 
     bool _initialized;
     uint64_t _stopped_clock_usec;
 };
-#endif // CONFIG_HAL_BOARD
-
-
-
-
+#endif  // CONFIG_HAL_BOARD