Code format fixes

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp

@@ -37,31 +37,22 @@
 
 using namespace px4muorb;
 
-/* Flags applied to the allocation of the shared memory for RPC */
-#define MUORB_KRAIT_FASTRPC_MEM_FLAGS         0
-
-/* The ID of the HEAP to be used when allocating shared memory */
-//TODO This heap id is used for test purposes. We need to find out the correct one.
-#define MUORB_KRAIT_FASTRPC_HEAP_ID           22
-
-static char *_TopicNameBuffer = 0;
-static const int32_t _MAX_TOPIC_NAME_BUFFER = 256;
-
-static uint8_t *_DataBuffer  = 0;
-static const uint32_t _MAX_DATA_BUFFER_SIZE = 2048;
-
-static bool _Initialized = false;
-
-// These numbers are based off the fact each fastrpc call for 64K packet is 94us.
-// hence we are trying to allocation 64K of byte buffers.
-static const uint32_t _MAX_TOPIC_DATA_BUFFER_SIZE = 1024;
-static const uint32_t _MAX_TOPICS = 64;
-static const uint32_t _MAX_BULK_TRANSFER_BUFFER_SIZE = _MAX_TOPIC_DATA_BUFFER_SIZE * _MAX_TOPICS;
-static uint8_t *_BulkTransferBuffer = 0;
-
-
-px4muorb::KraitRpcWrapper::KraitRpcWrapper()
+/**
+ * Constructor
+ */
+KraitRpcWrapper::KraitRpcWrapper() {}
+
+/**
+ * destructor
+ */
+KraitRpcWrapper::~KraitRpcWrapper() {}
+
+/**
+ * Initiatizes the rpc channel px4 muorb
+ */
+bool KraitRpcWrapper::Initialize()
 {
+	return (px4muorb_orb_initialize() == 0);
 }
 
 px4muorb::KraitRpcWrapper::~KraitRpcWrapper()

src/modules/systemlib/param/param_shmem.c

@@ -114,7 +114,7 @@ const int bits_per_allocation_unit  = (sizeof(*param_changed_storage) * 8);
 extern int get_shmem_lock(void);
 extern void release_shmem_lock(void);
 
-struct param_wbuf_s * param_find_changed(param_t param);
+struct param_wbuf_s *param_find_changed(param_t param);
 
 void init_params(void);
 extern void init_shared_memory(void);
@@ -127,9 +127,10 @@ uint64_t sync_other_prev_time = 0, sync_other_current_time = 0;
 extern void update_to_shmem(param_t param, union param_value_u value);
 extern int update_from_shmem(param_t param, union param_value_u *value);
 static int param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes);
-unsigned char set_called_from_get=0;
+unsigned char set_called_from_get = 0;
 
-static int param_import_done=0; /*at startup, params are loaded from file, if present. we dont want to send notifications that time since muorb is not ready*/
+static int param_import_done =
+	0; /*at startup, params are loaded from file, if present. we dont want to send notifications that time since muorb is not ready*/
 
 static int param_load_default_no_notify(void);
 
@@ -509,11 +510,10 @@ param_get(param_t param, void *val)
 
 	union param_value_u value;
 
-	if(update_from_shmem(param, &value))
-	{
-		set_called_from_get=1;
+	if (update_from_shmem(param, &value)) {
+		set_called_from_get = 1;
 		param_set_internal(param, &value, true, false);
-		set_called_from_get=0;
+		set_called_from_get = 0;
 	}
 
 

src/platforms/posix/px4_layer/px4_posix_impl.cpp

@@ -60,6 +60,7 @@ long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
 
 #ifdef ENABLE_SHMEM
 extern void init_params(void);
+#endif
 
 #ifdef ENABLE_SHMEM
 extern void init_own_params(void);
@@ -85,7 +86,7 @@ void init_once(void)
 #ifdef ENABLE_SHMEM
 	PX4_INFO("Starting shared memory param sync\n");
 	init_own_params();
-	param_sync_done=init_other_params();
+	param_sync_done = init_other_params();
 #endif
 }
 

src/platforms/posix/px4_layer/shmem_posix.c

@@ -58,8 +58,8 @@
 
 int mem_fd;
 unsigned char *map_base, *virt_addr;
-struct shmem_info* shmem_info_p;
-static void* map_memory(off_t target);
+struct shmem_info *shmem_info_p;
+static void *map_memory(off_t target);
 
 int get_shmem_lock(void);
 void release_shmem_lock(void);

src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp

@@ -331,7 +331,7 @@ int VCDevExample::main()
 
 	PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");
 
-	if(do_poll(fd, 0, 3, 0)) {
+	if (do_poll(fd, 0, 3, 0)) {
 		ret = 1;
 		goto fail2;
 		goto fail2;

src/platforms/qurt/px4_layer/main.cpp

@@ -73,30 +73,30 @@ static void run_cmd(map<string, px4_main_t> &apps, const vector<string> &appargs
 	string command = appargs[0];
 
 	//replaces app.find with iterator code to avoid null pointer exception
-	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
-	if (it->first == command) {
-		const char *arg[2 + 1];
+	for (map<string, px4_main_t>::iterator it = apps.begin(); it != apps.end(); ++it)
+		if (it->first == command) {
+			const char *arg[2 + 1];
 
-		unsigned int i = 0;
+			unsigned int i = 0;
 
-		while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
-			arg[i] = (char *)appargs[i].c_str();
-			PX4_WARN("  arg%d = '%s'\n", i, arg[i]);
-			++i;
-		}
+			while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
+				arg[i] = (char *)appargs[i].c_str();
+				PX4_WARN("  arg%d = '%s'\n", i, arg[i]);
+				++i;
+			}
 
-		arg[i] = (char *)0;
+			arg[i] = (char *)0;
 
-		//PX4_DEBUG_PRINTF(i);
-		if (apps[command] == NULL) {
-			PX4_ERR("Null function !!\n");
+			//PX4_DEBUG_PRINTF(i);
+			if (apps[command] == NULL) {
+				PX4_ERR("Null function !!\n");
 
-		} else {
-			apps[command](i, (char **)arg);
-			break;
-		}
+			} else {
+				apps[command](i, (char **)arg);
+				break;
+			}
 
-	}
+		}
 }
 
 void eat_whitespace(const char *&b, int &i)

src/platforms/qurt/px4_layer/px4_qurt_impl.cpp

@@ -114,7 +114,7 @@ void init_once(void)
 
 	/*Shared memory param sync*/
 	init_own_params();
-	param_sync_done=init_other_params();
+	param_sync_done = init_other_params();
 }
 
 void init(int argc, char *argv[], const char *app_name)

src/systemcmds/mixer/mixer.cpp

@@ -124,6 +124,7 @@ load(const char *devname, const char *fname)
 #ifndef __PX4_QURT
 
 	char		buf[2048];
+
 	if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0) {
 		warnx("can't load mixer: %s", fname);
 		return 1;
@@ -132,20 +133,20 @@ load(const char *devname, const char *fname)
 	/* XXX pass the buffer to the device */
 	int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
 #else
-        char newbuf[] =
-          "R: 4x 10000 10000 10000 0\n"
-          "M: 1\n"
-          "O: 10000 10000 0 -10000 10000\n"
-          "S: 0 4 10000 10000 0 -10000 10000\n"
-          "M: 1\n"
-          "O: 10000 10000 0 -10000 10000\n"
-          "S: 0 5 10000 10000 0 -10000 10000\n"
-          "M: 1\n"
-          "O: 10000 10000 0 -10000 10000\n"
-          "S: 0 6 10000 10000 0 -10000 10000\n"
-          "M: 1\n"
-          "O: 10000 10000 0 -10000 10000\n"
-          "S: 0 7 10000 10000 0 -10000 10000\n";
+	char newbuf[] =
+		"R: 4x 10000 10000 10000 0\n"
+		"M: 1\n"
+		"O: 10000 10000 0 -10000 10000\n"
+		"S: 0 4 10000 10000 0 -10000 10000\n"
+		"M: 1\n"
+		"O: 10000 10000 0 -10000 10000\n"
+		"S: 0 5 10000 10000 0 -10000 10000\n"
+		"M: 1\n"
+		"O: 10000 10000 0 -10000 10000\n"
+		"S: 0 6 10000 10000 0 -10000 10000\n"
+		"M: 1\n"
+		"O: 10000 10000 0 -10000 10000\n"
+		"S: 0 7 10000 10000 0 -10000 10000\n";
 	/* XXX pass the buffer to the device */
 	int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)newbuf);
 #endif