K/R formatting, debugging serialport.

CMakeLists.txt

@@ -155,6 +155,7 @@ if(QSERIAL_BUILD_FROM_SOURCE)
         ${PROJECT_SOURCE_DIR}/thirdParty/qserial/include/QtSerialPort
         ${PROJECT_SOURCE_DIR}/thirdParty/qserial/src
         )
+    set(QSERIAL_LIBRARIES qserial)
     add_custom_command(OUTPUT QSERIAL_BUILD.stamp 
         COMMAND touch QSERIAL_BUILD.stamp)
 endif()
@@ -216,6 +217,7 @@ endif()
 message(STATUS "\t\tQSERIAL\t\t${QSERIAL_FOUND}")
 if (QSERIAL_FOUND)
     list(APPEND qgroundcontrolIncludes ${QSERIAL_INCLUDE_DIRS})
+    list(APPEND qgroundcontrolLibs ${QSERIAL_LIBRARIES})
 endif()
 
 message(STATUS "\t\tOpenSceneGraph\t${OPENSCENEGRAPH_FOUND}")
@@ -792,13 +794,13 @@ set (qserialHdrs
     thirdParty/qserial/include/QtSerialPort/qserialport_export.h
     thirdParty/qserial/include/QtSerialPort/QSerialPort
     thirdParty/qserial/include/QtSerialPort/qportsettings.h
+    thirdParty/qserial/include/QtSerialPort/qserialport.h
+    thirdParty/qserial/include/QtSerialPort/qserialportnative.h
     )
 # qserial headers with Q_OBJECT
 # r !grep -Rl Q_OBJECT thirdParty/qserial
 set (qserialMocSrc
-    thirdParty/qserial/include/QtSerialPort/qserialport.h
-    thirdParty/qserial/include/QtSerialPort/qserialportnative.h
-)
+    )
 # qserial src
 set (qserialSrc
     thirdParty/qserial/src/common/qserialport.cpp
@@ -812,28 +814,32 @@ set(qserialRscSrc
 )
 
 # qserial native code
-if (WIN32)
-    list(APPEND qSerialMocSrc
-        thirdParty/qserial/src/win32/qwincommevtnotifier.h
-        thirdParty/qserial/src/win32/wincommevtbreaker.h
-    )
-    list(APPEND qSerialSrc
-        thirdParty/qserial/src/win32/qserialportnative_win32.cpp
-        thirdParty/qserial/src/win32/commdcbhelper.h
-        thirdParty/qserial/src/win32/commdcbhelper.cpp
-        thirdParty/qserial/src/win32/qserialportnative_wince.cpp
-        thirdParty/qserial/src/win32/wincommevtbreaker.cpp
-        thirdParty/qserial/src/win32/qwincommevtnotifier.cpp
-        )
-elseif(UNIX OR APPLE)
-    list(APPEND qSerialSrc    
+#if (WIN32)
+    #list(APPEND qserialHdrs
+        #thirdParty/qserial/src/win32/commdcbhelper.h
+        #)
+    #list(APPEND qserialMocSrc
+        #thirdParty/qserial/src/win32/qwincommevtnotifier.h
+        #thirdParty/qserial/src/win32/wincommevtbreaker.h
+    #)
+    #list(APPEND qserialSrc
+        #thirdParty/qserial/src/win32/qserialportnative_win32.cpp
+        #thirdParty/qserial/src/win32/commdcbhelper.cpp
+        #thirdParty/qserial/src/win32/qwincommevtnotifier.cpp
+        ##thirdParty/qserial/src/win32/qserialportnative_wince.cpp
+        ##thirdParty/qserial/src/win32/wincommevtbreaker.cpp
+        #)
+#elseif(UNIX OR APPLE)
+    list(APPEND qserialHdrs
         thirdParty/qserial/src/posix/termioshelper.h
+        )
+    list(APPEND qserialSrc    
         thirdParty/qserial/src/posix/termioshelper.cpp
         thirdParty/qserial/src/posix/qserialportnative_posix.cpp
         )
-else()
-    message(FATAL_ERROR "unknown OS")
-endif()
+#else()
+    #message(FATAL_ERROR "unknown OS")
+#endif()
 
 # qserial linking
 qt4_wrap_cpp(qserialMoc ${qserialMocSrc})

CMakeModules/FindQSERIAL.cmake

+# - Try to find  QSERIAL
+# Once done, this will define
+#
+#  QSERIAL_FOUND - system has scicoslab 
+#  QSERIAL_INCLUDE_DIRS - the scicoslab include directories
+#  QSERIAL_LIBRARIES - libraries to link to
+
+include(LibFindMacros)
+
+# Include dir
+find_path(QSERIAL_INCLUDE_DIR
+	NAMES QSerialPort
+	PATHS 
+		/usr/include/QtSerialPort
+		/usr/local/include/QtSerialPort
+		/usr/local/qserialport/include/QtSerialPort
+)
+
+# Finally the library itself
+find_library(QSERIAL_LIBRARY
+	NAMES
+		QtSerialPort
+	PATHS 
+		/usr/lib
+		/usr/local/lib
+		/usr/local/qserialport/lib
+)
+
+# Set the include dir variables and the libraries and let libfind_process do the rest.
+# NOTE: Singular variables for this library, plural for libraries this this lib depends on.
+set(QSERIAL_PROCESS_INCLUDES QSERIAL_INCLUDE_DIR)
+set(QSERIAL_PROCESS_LIBS QSERIAL_LIBRARY QSERIAL_LIBRARIES)
+libfind_process(QSERIAL)

commit

+#!/bin/bash
+astyle --style=k/r $(find src -regex ".*\.\(cpp\|cc\|h\|hpp\)")
+rm -f $(find . -regex '.*orig$')
+git commit

src/AudioOutput.cc

 #include "AudioOutput.h"
 
 #ifdef Q_OS_MAC
-	#include <ApplicationServices/ApplicationServices.h>
+#include <ApplicationServices/ApplicationServices.h>
 #else
-	#include <flite.h>
-	#include <phonon/mediaobject.h>
-	#include <QTemporaryFile>
+#include <flite.h>
+#include <phonon/mediaobject.h>
+#include <QTemporaryFile>
 #endif
 
 #include <QDebug>
@@ -25,17 +25,16 @@ extern "C" {
 };
 #endif
 
-AudioOutput::AudioOutput(QString voice, QObject* parent) 
-	: QObject(parent),
-	  voice(NULL),
-	  voiceIndex(0)
+AudioOutput::AudioOutput(QString voice, QObject* parent)
+    : QObject(parent),
+      voice(NULL),
+      voiceIndex(0)
 {
 #if !defined(Q_OS_WIN32) && !defined(Q_OS_MAC)
     flite_init();
 #endif
 
-    switch (voiceIndex)
-    {
+    switch (voiceIndex) {
     case 0:
         selectFemaleVoice();
         break;
@@ -73,20 +72,19 @@ bool AudioOutput::say(QString text, int severity)
 #if defined(Q_OS_WIN32)
     qDebug() << "Synthesized: " << text << ", NO OUTPUT SUPPORT ON WINDOWS!";
 #elif defined(Q_OS_MAC)
-	// FIXME, copy string, set callback to free the copy
-	SpeakString((const unsigned char*)text.toAscii().data());
-	qDebug() << "Synthesized: " << text;
+    // FIXME, copy string, set callback to free the copy
+    SpeakString((const unsigned char*)text.toAscii().data());
+    qDebug() << "Synthesized: " << text;
 #else
     QTemporaryFile file;
     file.setFileTemplate("XXXXXX.wav");
-    if (file.open())
-    {
+    if (file.open()) {
         cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), this->voice);
         // file.fileName() returns the unique file name
         cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
         Phonon::MediaObject *music =
-                Phonon::createPlayer(Phonon::MusicCategory,
-                                     Phonon::MediaSource(file.fileName().toStdString().c_str()));
+            Phonon::createPlayer(Phonon::MusicCategory,
+                                 Phonon::MediaSource(file.fileName().toStdString().c_str()));
         music->play();
         qDebug() << "Synthesized: " << text << ", tmp file:" << file.fileName().toStdString().c_str();
     }
@@ -155,9 +153,9 @@ extern "C" {
             l.append(s);
         }
         printf("\n");
-*/
+        */
 #endif
-		return l;
+        return l;
     }
 #ifdef __cplusplus
 }

src/Core.cc

@@ -87,20 +87,16 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
     // Show user an upgrade message if QGC got upgraded (see code below, after splash screen)
     bool upgraded = false;
     QString lastApplicationVersion("");
-    if (settings.contains("QGC_APPLICATION_VERSION"))
-    {
+    if (settings.contains("QGC_APPLICATION_VERSION")) {
         QString qgcVersion = settings.value("QGC_APPLICATION_VERSION").toString();
-        if (qgcVersion != QGC_APPLICATION_VERSION)
-        {
+        if (qgcVersion != QGC_APPLICATION_VERSION) {
             lastApplicationVersion = qgcVersion;
             settings.clear();
             // Write current application version
             settings.setValue("QGC_APPLICATION_VERSION", QGC_APPLICATION_VERSION);
             upgraded = true;
         }
-    }
-    else
-    {
+    } else {
         // If application version is not set, clear settings anyway
         settings.clear();
         // Write current application version
@@ -172,8 +168,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
     if (upgraded) mainWindow->showInfoMessage(tr("Default Settings Loaded"), tr("QGroundControl has been upgraded from version %1 to version %2. Some of your user preferences have been reset to defaults for safety reasons. Please adjust them where needed.").arg(lastApplicationVersion).arg(QGC_APPLICATION_VERSION));
 
     // Check if link could be connected
-    if (!udpLink->connect())
-    {
+    if (!udpLink->connect()) {
         QMessageBox msgBox;
         msgBox.setIcon(QMessageBox::Critical);
         msgBox.setText("Could not connect UDP port. Is an instance of " + qAppName() + "already running?");
@@ -186,8 +181,7 @@ Core::Core(int &argc, char* argv[]) : QApplication(argc, argv)
         QTimer::singleShot(5000, &msgBox, SLOT(reject()));
 
         // Exit application
-        if (ret == QMessageBox::Yes)
-        {
+        if (ret == QMessageBox::Yes) {
             //mainWindow->close();
             QTimer::singleShot(200, mainWindow, SLOT(close()));
         }
@@ -244,8 +238,7 @@ void Core::startUASManager()
     if (pluginsDir.dirName().toLower() == "debug" || pluginsDir.dirName().toLower() == "release")
         pluginsDir.cdUp();
 #elif defined(Q_OS_MAC)
-    if (pluginsDir.dirName() == "MacOS")
-    {
+    if (pluginsDir.dirName() == "MacOS") {
         pluginsDir.cdUp();
         pluginsDir.cdUp();
         pluginsDir.cdUp();
@@ -259,12 +252,10 @@ void Core::startUASManager()
 
     QStringList pluginFileNames;
 
-    foreach (QString fileName, pluginsDir.entryList(QDir::Files))
-    {
+    foreach (QString fileName, pluginsDir.entryList(QDir::Files)) {
         QPluginLoader loader(pluginsDir.absoluteFilePath(fileName));
         QObject *plugin = loader.instance();
-        if (plugin)
-        {
+        if (plugin) {
             //populateMenus(plugin);
             pluginFileNames += fileName;
             //printf(QString("Loaded plugin from " + fileName + "\n").toStdString().c_str());

src/Core.h

@@ -53,25 +53,25 @@ This file is part of the PIXHAWK project
  **/
 class Core : public QApplication
 {
-	Q_OBJECT
+    Q_OBJECT
 
 public:
-        Core(int &argc, char* argv[]);
-        ~Core();
+    Core(int &argc, char* argv[]);
+    ~Core();
 
 protected:
-	void startLinkManager();
+    void startLinkManager();
 
-        /**
-         * @brief Start the robot managing system
-         *
-         * The robot manager keeps track of the configured robots.
-         **/
-        void startUASManager();
+    /**
+     * @brief Start the robot managing system
+     *
+     * The robot manager keeps track of the configured robots.
+     **/
+    void startUASManager();
 
 private:
-        MainWindow* mainWindow;
-        //ViconTarsusProtocol* tarsus;
+    MainWindow* mainWindow;
+    //ViconTarsusProtocol* tarsus;
 };
 
 #endif /* _CORE_H_ */

src/GAudioOutput.cc

@@ -89,9 +89,9 @@ GAudioOutput* GAudioOutput::instance()
 #define QGC_GAUDIOOUTPUT_KEY QString("QGC_AUDIOOUTPUT_")
 
 GAudioOutput::GAudioOutput(QObject* parent) : QObject(parent),
-voiceIndex(0),
-emergency(false),
-muted(false)
+    voiceIndex(0),
+    emergency(false),
+    muted(false)
 {
     // Load settings
     QSettings settings;
@@ -103,24 +103,20 @@ muted(false)
     flite_init();
 #endif
 
-	#if _MSC_VER2
-
-		ISpVoice * pVoice = NULL;
-	    if (FAILED(::CoInitialize(NULL)))
-		{
-			qDebug("Creating COM object for audio output failed!");
-		}
-		else
-		{
-
-    HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice;);
-    if( SUCCEEDED( hr ) )
-    {
-        hr = pVoice->Speak(L"Hello world", 0, NULL);
-        pVoice->Release();
-        pVoice = NULL;
+#if _MSC_VER2
+
+    ISpVoice * pVoice = NULL;
+    if (FAILED(::CoInitialize(NULL))) {
+        qDebug("Creating COM object for audio output failed!");
+    } else {
+
+        HRESULT hr = CoCreateInstance(CLSID_SpVoice, NULL, CLSCTX_ALL, IID_ISpVoice, (void **)&pVoice;);
+        if( SUCCEEDED( hr ) ) {
+            hr = pVoice->Speak(L"Hello world", 0, NULL);
+            pVoice->Release();
+            pVoice = NULL;
+        }
     }
-		}
 #endif
     // Initialize audio output
     m_media = new Phonon::MediaObject(this);
@@ -131,8 +127,7 @@ muted(false)
     emergencyTimer = new QTimer();
     connect(emergencyTimer, SIGNAL(timeout()), this, SLOT(beep()));
 
-    switch (voiceIndex)
-    {
+    switch (voiceIndex) {
     case 0:
         selectFemaleVoice();
         break;
@@ -145,14 +140,13 @@ muted(false)
 GAudioOutput::~GAudioOutput()
 {
 #ifdef _MSC_VER2
-	::CoUninitialize();
+    ::CoUninitialize();
 #endif
 }
 
 void GAudioOutput::mute(bool mute)
 {
-    if (mute != muted)
-    {
+    if (mute != muted) {
         this->muted = mute;
         QSettings settings;
         settings.setValue(QGC_GAUDIOOUTPUT_KEY+"muted", this->muted);
@@ -168,52 +162,47 @@ bool GAudioOutput::isMuted()
 
 bool GAudioOutput::say(QString text, int severity)
 {
-    if (!muted)
-    {
-    // TODO Add severity filter
-    Q_UNUSED(severity);
-    bool res = false;
-    if (!emergency)
-    {
-
-        // Speech synthesis is only supported with MSVC compiler
+    if (!muted) {
+        // TODO Add severity filter
+        Q_UNUSED(severity);
+        bool res = false;
+        if (!emergency) {
+
+            // Speech synthesis is only supported with MSVC compiler
 #ifdef _MSC_VER2
-        SpeechSynthesizer synth = new SpeechSynthesizer();
-        synth.SelectVoice("Microsoft Anna");
-        synth.SpeakText(text.toStdString().c_str());
-        res = true;
+            SpeechSynthesizer synth = new SpeechSynthesizer();
+            synth.SelectVoice("Microsoft Anna");
+            synth.SpeakText(text.toStdString().c_str());
+            res = true;
 #endif
 
 #ifdef Q_OS_LINUX
-        QTemporaryFile file;
-        file.setFileTemplate("XXXXXX.wav");
-        if (file.open())
-        {
-            cst_voice* v = register_cmu_us_kal(NULL);
-            cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), v);
-            // file.fileName() returns the unique file name
-            cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
-            m_media->setCurrentSource(Phonon::MediaSource(file.fileName().toStdString().c_str()));
-            m_media->play();
-            res = true;
-        }
+            QTemporaryFile file;
+            file.setFileTemplate("XXXXXX.wav");
+            if (file.open()) {
+                cst_voice* v = register_cmu_us_kal(NULL);
+                cst_wave* wav = flite_text_to_wave(text.toStdString().c_str(), v);
+                // file.fileName() returns the unique file name
+                cst_wave_save(wav, file.fileName().toStdString().c_str(), "riff");
+                m_media->setCurrentSource(Phonon::MediaSource(file.fileName().toStdString().c_str()));
+                m_media->play();
+                res = true;
+            }
 #endif
 
 #ifdef Q_OS_MAC
-        // Slashes necessary to have the right start to the sentence
-        // copying data prevents SpeakString from reading additional chars
-        text = "\\" + text;
-        QStdWString str = text.toStdWString();
-        unsigned char str2[1024] = {};
-        memcpy(str2, text.toAscii().data(), str.length());
-        SpeakString(str2);
-        res = true;
+            // Slashes necessary to have the right start to the sentence
+            // copying data prevents SpeakString from reading additional chars
+            text = "\\" + text;
+            QStdWString str = text.toStdWString();
+            unsigned char str2[1024] = {};
+            memcpy(str2, text.toAscii().data(), str.length());
+            SpeakString(str2);
+            res = true;
 #endif
-    }
-    return res;
-}
-    else
-    {
+        }
+        return res;
+    } else {
         return false;
     }
 }
@@ -223,40 +212,35 @@ bool GAudioOutput::say(QString text, int severity)
  */
 bool GAudioOutput::alert(QString text)
 {
-    if (!emergency || !muted)
-    {
+    if (!emergency || !muted) {
         // Play alert sound
         beep();
         // Say alert message
         say(text, 2);
         return true;
-    }
-    else
-    {
+    } else {
         return false;
     }
 }
 
 void GAudioOutput::notifyPositive()
 {
-    if (!muted)
-    {
-    // Use QFile to transform path for all OS
-    QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
-    m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
-    m_media->play();
-}
+    if (!muted) {
+        // Use QFile to transform path for all OS
+        QFile f(QCoreApplication::applicationDirPath()+QString("/audio/double_notify.wav"));
+        m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
+        m_media->play();
+    }
 }
 
 void GAudioOutput::notifyNegative()
 {
-    if (!muted)
-    {
-    // Use QFile to transform path for all OS
-    QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
-    m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
-    m_media->play();
-}
+    if (!muted) {
+        // Use QFile to transform path for all OS
+        QFile f(QCoreApplication::applicationDirPath()+QString("/audio/flat_notify.wav"));
+        m_media->setCurrentSource(Phonon::MediaSource(f.fileName().toStdString().c_str()));
+        m_media->play();
+    }
 }
 
 /**
@@ -268,8 +252,7 @@ void GAudioOutput::notifyNegative()
  */
 bool GAudioOutput::startEmergency()
 {
-    if (!emergency)
-    {
+    if (!emergency) {
         emergency = true;
         // Beep immediately and then start timer
         if (!muted) beep();
@@ -287,8 +270,7 @@ bool GAudioOutput::startEmergency()
  */
 bool GAudioOutput::stopEmergency()
 {
-    if (emergency)
-    {
+    if (emergency) {
         emergency = false;
         emergencyTimer->stop();
     }
@@ -297,8 +279,7 @@ bool GAudioOutput::stopEmergency()
 
 void GAudioOutput::beep()
 {
-    if (!muted)
-    {
+    if (!muted) {
         // Use QFile to transform path for all OS
         QFile f(QCoreApplication::applicationDirPath()+QString("/audio/alert.wav"));
         qDebug() << "FILE:" << f.fileName();
@@ -339,8 +320,7 @@ QStringList GAudioOutput::listVoices(void)
 
 
     printf("Voices available: ");
-    for (v=flite_voice_list; v; v=val_cdr(v))
-    {
+    for (v=flite_voice_list; v; v=val_cdr(v)) {
         voice = val_voice(val_car(v));
         QString s;
         s.sprintf("%s",voice->name);

src/GAudioOutput.h

@@ -59,7 +59,7 @@ This file is part of the PIXHAWK project
 extern "C" {
     cst_voice *REGISTER_VOX(const char *voxdir);
     void UNREGISTER_VOX(cst_voice *vox);
-cst_voice* register_cmu_us_kal16(const char *voxdir);
+    cst_voice* register_cmu_us_kal16(const char *voxdir);
 }
 #endif
 
@@ -124,7 +124,7 @@ protected:
     bool muted;
 private:
     GAudioOutput(QObject* parent=NULL);
-	~GAudioOutput();
+    ~GAudioOutput();
 };
 
 #endif // AUDIOOUTPUT_H

src/LogCompressor.cc

@@ -9,15 +9,15 @@ This file is part of the QGROUNDCONTROL project
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
-    
+
     QGROUNDCONTROL is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
-    
+
     You should have received a copy of the GNU General Public License
     along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-    
+
 ======================================================================*/
 
 /**
@@ -40,12 +40,12 @@ This file is part of the QGROUNDCONTROL project
  * It will only get active upon calling startCompression()
  */
 LogCompressor::LogCompressor(QString logFileName, QString outFileName, int uasid) :
-        logFileName(logFileName),
-        outFileName(outFileName),
-        running(true),
-        currentDataLine(0),
-        dataLines(1),
-        uasid(uasid)
+    logFileName(logFileName),
+    outFileName(outFileName),
+    running(true),
+    currentDataLine(0),
+    dataLines(1),
+    uasid(uasid)
 {
 }
 
@@ -60,22 +60,20 @@ void LogCompressor::run()
     QList<quint64> finalTimes;
 
     qDebug() << "LOG COMPRESSOR: Starting" << fileName;
-    
-    if (!file.exists() || !file.open(QIODevice::ReadOnly | QIODevice::Text))
-    {
+
+    if (!file.exists() || !file.open(QIODevice::ReadOnly | QIODevice::Text)) {
         //qDebug() << "LOG COMPRESSOR: INPUT FILE DOES NOT EXIST";
         emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since input file %1 is not readable").arg(QFileInfo(fileName).absoluteFilePath()));
         return;
     }
-    
-        // Check if file is writeable
-        if (outFileName == ""/* || !QFileInfo(outfile).isWritable()*/)
-        {
-            //qDebug() << "LOG COMPRESSOR: OUTPUT FILE DOES NOT EXIST" << outFileName;
-            emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since output file %1 is not writable").arg(QFileInfo(outFileName).absoluteFilePath()));
-            return;
-        }
-    
+
+    // Check if file is writeable
+    if (outFileName == ""/* || !QFileInfo(outfile).isWritable()*/) {
+        //qDebug() << "LOG COMPRESSOR: OUTPUT FILE DOES NOT EXIST" << outFileName;
+        emit logProcessingStatusChanged(tr("Log Compressor: Cannot start/compress log file, since output file %1 is not writable").arg(QFileInfo(outFileName).absoluteFilePath()));
+        return;
+    }
+
     // Find all keys
     QTextStream in(&file);
 
@@ -95,50 +93,45 @@ void LogCompressor::run()
         keyCounter++;
     }
     keys->sort();
-    
+
     QString header = "";
     QString spacer = "";
-    for (int i = 0; i < keys->length(); i++)
-    {
+    for (int i = 0; i < keys->length(); i++) {
         header += keys->at(i) + separator;
         spacer += " " + separator;
     }
 
     emit logProcessingStatusChanged(tr("Log compressor: Dataset contains dimension: ") + header);
-    
+
     //qDebug() << header;
-    
+
     //qDebug() << "NOW READING TIMES";
-    
+
     // Find all times
     //in.reset();
     file.reset();
     in.reset();
     in.resetStatus();
     bool ok;
-    while (!in.atEnd())
-    {
+    while (!in.atEnd()) {
         QString line = in.readLine();
         // Accumulate map of keys
         // Data field name is at position 2b
         quint64 time = static_cast<QString>(line.split(separator).at(0)).toLongLong(&ok);
-        if (ok)
-        {
+        if (ok) {
             times.append(time);
         }
     }
-    
+
     qSort(times);
-    
+
     qint64 lastTime = -1;
-    
+
     // Create lines
     QStringList* outLines = new QStringList();
-    for (int i = 0; i < times.length(); i++)
-    {
+    for (int i = 0; i < times.length(); i++) {
         // Cast to signed on purpose, 64 bit timestamp still long enough
-        if (static_cast<qint64>(times.at(i)) != lastTime)
-        {
+        if (static_cast<qint64>(times.at(i)) != lastTime) {
             outLines->append(QString("%1").arg(times.at(i)) + separator + spacer);
             lastTime = static_cast<qint64>(times.at(i));
             finalTimes.append(times.at(i));
@@ -149,16 +142,15 @@ void LogCompressor::run()
     dataLines = finalTimes.length();
 
     emit logProcessingStatusChanged(tr("Log compressor: Now processing %1 log lines").arg(finalTimes.length()));
-    
+
     // Fill in the values for all keys
     file.reset();
     QTextStream data(&file);
     int linecounter = 0;
     quint64 lastTimeIndex = 0;
     bool failed = false;
-    
-    while (!data.atEnd())
-    {
+
+    while (!data.atEnd()) {
         linecounter++;
         currentDataLine = linecounter;
         QString line = data.readLine();
@@ -168,12 +160,11 @@ void LogCompressor::run()
         QString field = parts.at(2);
         QString value = parts.at(3);
         // Enforce NaN if no value is present
-        if (value.length() == 0 || value == "" || value == " " || value == "\t" || value == "\n")
-        {
+        if (value.length() == 0 || value == "" || value == " " || value == "\t" || value == "\n") {
             value = "NaN";
         }
         // Get matching output line
-        
+
         // Constraining the search area might result in not finding a key,
         // but it significantly reduces the time needed for the search
         // setting a window of 1000 entries means that a 1 Hz data point
@@ -185,29 +176,21 @@ void LogCompressor::run()
 
         // Search the index until it is valid (!= -1)
         // or the start of the list has been reached (failed)
-        while (index == -1 && !failed)
-        {
-            if (lastTimeIndex > offsetLimit)
-            {
+        while (index == -1 && !failed) {
+            if (lastTimeIndex > offsetLimit) {
                 offset = lastTimeIndex - offsetLimit;
-            }
-            else
-            {
+            } else {
                 offset = 0;
             }
-            
+
             index = finalTimes.indexOf(time, offset);
-            if (index == -1)
-            {
-                if (offset == 0)
-                {
+            if (index == -1) {
+                if (offset == 0) {
                     emit logProcessingStatusChanged(tr("Log compressor: Timestamp %1 not found in dataset, ignoring log line %2").arg(time).arg(linecounter));
                     qDebug() << "Completely failed finding value";
                     //continue;
                     failed = true;
-                }
-                else
-                {
+                } else {
                     emit logProcessingStatusChanged(tr("Log compressor: Timestamp %1 not found in dataset, restarting search.").arg(time));
                     offsetLimit*=2;
                 }
@@ -215,9 +198,8 @@ void LogCompressor::run()
         }
 
         if (dataLines > 100) if (index % (dataLines/100) == 0) emit logProcessingStatusChanged(tr("Log compressor: Processed %1% of %2 lines").arg(index/(float)dataLines*100, 0, 'f', 2).arg(dataLines));
-        
-        if (!failed)
-        {
+
+        if (!failed) {
             // When the algorithm reaches here the correct index was found
             lastTimeIndex = index;
             QString outLine = outLines->at(index);
@@ -228,13 +210,12 @@ void LogCompressor::run()
             outLines->replace(index, outLine);
         }
     }
-    
-    
+
+
     // Add header, write out file
     file.close();
-    
-    if (outFileName == logFileName)
-    {
+
+    if (outFileName == logFileName) {
         QFile::remove(file.fileName());
         outfile.setFileName(file.fileName());
 
@@ -244,15 +225,14 @@ void LogCompressor::run()
     outfile.write(QString(QString("unix_timestamp") + separator + header.replace(" ", "_") + QString("\n")).toLatin1());
     emit logProcessingStatusChanged(tr("Log Compressor: Writing output to file %1").arg(QFileInfo(outFileName).absoluteFilePath()));
     //QString fileHeader = QString("unix_timestamp") + header.replace(" ", "_") + QString("\n");
-    
+
     // File output
-    for (int i = 0; i < outLines->length(); i++)
-    {
+    for (int i = 0; i < outLines->length(); i++) {
         //qDebug() << outLines->at(i);
         outfile.write(QString(outLines->at(i) + "\n").toLatin1());
-        
+
     }
-    
+
     currentDataLine = 0;
     dataLines = 1;
     delete keys;

src/QGC.cc

@@ -26,7 +26,8 @@ This file is part of the QGROUNDCONTROL project
 #include <qmath.h>
 #include <float.h>
 
-namespace QGC {
+namespace QGC
+{
 
 quint64 groundTimeUsecs()
 {
@@ -48,13 +49,11 @@ quint64 groundTimeMilliseconds()
 
 float limitAngleToPMPIf(float angle)
 {
-    while (angle > ((float)M_PI+FLT_EPSILON))
-    {
+    while (angle > ((float)M_PI+FLT_EPSILON)) {
         angle -= 2.0f * (float)M_PI;
     }
 
-    while (angle <= -((float)M_PI+FLT_EPSILON))
-    {
+    while (angle <= -((float)M_PI+FLT_EPSILON)) {
         angle += 2.0f * (float)M_PI;
     }
 
@@ -63,17 +62,12 @@ float limitAngleToPMPIf(float angle)
 
 double limitAngleToPMPId(double angle)
 {
-    if (angle < -M_PI)
-    {
-        while (angle < -M_PI)
-        {
+    if (angle < -M_PI) {
+        while (angle < -M_PI) {
             angle += M_PI;
         }
-    }
-    else if (angle > M_PI)
-    {
-        while (angle > M_PI)
-        {
+    } else if (angle > M_PI) {
+        while (angle > M_PI) {
             angle -= M_PI;
         }
     }

src/QGC.h

@@ -9,58 +9,55 @@
 
 namespace QGC
 {
-    const static int defaultSystemId = 255;
-    const static int defaultComponentId = 0;
+const static int defaultSystemId = 255;
+const static int defaultComponentId = 0;
 
-    const QColor colorCyan(55, 154, 195);
-    const QColor colorRed(154, 20, 20);
-    const QColor colorGreen(20, 200, 20);
-    const QColor colorYellow(255, 255, 0);
-    const QColor colorOrange(255, 140, 0);
-    const QColor colorDarkYellow(180, 180, 0);
-    const QColor colorBackground("#050508");
-    const QColor colorBlack(0, 0, 0);
+const QColor colorCyan(55, 154, 195);
+const QColor colorRed(154, 20, 20);
+const QColor colorGreen(20, 200, 20);
+const QColor colorYellow(255, 255, 0);
+const QColor colorOrange(255, 140, 0);
+const QColor colorDarkYellow(180, 180, 0);
+const QColor colorBackground("#050508");
+const QColor colorBlack(0, 0, 0);
 
-    /** @brief Get the current ground time in microseconds */
-    quint64 groundTimeUsecs();
-    /** @brief Get the current ground time in milliseconds */
-    quint64 groundTimeMilliseconds();
-    /** @brief Returns the angle limited to -pi - pi */
-    float limitAngleToPMPIf(float angle);
-    /** @brief Returns the angle limited to -pi - pi */
-    double limitAngleToPMPId(double angle);
-    int applicationVersion();
+/** @brief Get the current ground time in microseconds */
+quint64 groundTimeUsecs();
+/** @brief Get the current ground time in milliseconds */
+quint64 groundTimeMilliseconds();
+/** @brief Returns the angle limited to -pi - pi */
+float limitAngleToPMPIf(float angle);
+/** @brief Returns the angle limited to -pi - pi */
+double limitAngleToPMPId(double angle);
+int applicationVersion();
 
-    const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
+const static int MAX_FLIGHT_TIME = 60 * 60 * 24 * 21;
 
-    class SLEEP : public QThread
-    {
-    public:
-        /**
-         * @brief Set a thread to sleep for seconds
-         * @param s time in seconds to sleep
-         **/
-        static void sleep(unsigned long s)
-        {
-            QThread::sleep(s);
-        }
-        /**
-         * @brief Set a thread to sleep for milliseconds
-         * @param ms time in milliseconds to sleep
-         **/
-        static void msleep(unsigned long ms)
-        {
-            QThread::msleep(ms);
-        }
-        /**
-         * @brief Set a thread to sleep for microseconds
-         * @param us time in microseconds to sleep
-         **/
-        static void usleep(unsigned long us)
-        {
-            QThread::usleep(us);
-        }
-    };
+class SLEEP : public QThread
+{
+public:
+    /**
+     * @brief Set a thread to sleep for seconds
+     * @param s time in seconds to sleep
+     **/
+    static void sleep(unsigned long s) {
+        QThread::sleep(s);
+    }
+    /**
+     * @brief Set a thread to sleep for milliseconds
+     * @param ms time in milliseconds to sleep
+     **/
+    static void msleep(unsigned long ms) {
+        QThread::msleep(ms);
+    }
+    /**
+     * @brief Set a thread to sleep for microseconds
+     * @param us time in microseconds to sleep
+     **/
+    static void usleep(unsigned long us) {
+        QThread::usleep(us);
+    }
+};
 
 }
 

src/Waypoint.cc

@@ -35,20 +35,20 @@ This file is part of the QGROUNDCONTROL project
 #include "Waypoint.h"
 
 Waypoint::Waypoint(quint16 _id, double _x, double _y, double _z, double _param1, double _param2, double _param3, double _param4,
-                            bool _autocontinue, bool _current, MAV_FRAME _frame, MAV_CMD _action)
+                   bool _autocontinue, bool _current, MAV_FRAME _frame, MAV_CMD _action)
     : id(_id),
-    x(_x),
-    y(_y),
-    z(_z),
-    yaw(_param4),
-    frame(_frame),
-    action(_action),
-    autocontinue(_autocontinue),
-    current(_current),
-    orbit(_param3),
-    param1(_param1),
-    param2(_param2),
-    name(QString("WP%1").arg(id, 2, 10, QChar('0')))
+      x(_x),
+      y(_y),
+      z(_z),
+      yaw(_param4),
+      frame(_frame),
+      action(_action),
+      autocontinue(_autocontinue),
+      current(_current),
+      orbit(_param3),
+      param1(_param1),
+      param2(_param2),
+      name(QString("WP%1").arg(id, 2, 10, QChar('0')))
 {
 }
 
@@ -78,8 +78,7 @@ void Waypoint::save(QTextStream &saveStream)
 bool Waypoint::load(QTextStream &loadStream)
 {
     const QStringList &wpParams = loadStream.readLine().split("\t");
-    if (wpParams.size() == 12)
-    {
+    if (wpParams.size() == 12) {
         this->id = wpParams[0].toInt();
         this->current = (wpParams[1].toInt() == 1 ? true : false);
         this->frame = (MAV_FRAME) wpParams[2].toInt();
@@ -107,8 +106,7 @@ void Waypoint::setId(quint16 id)
 
 void Waypoint::setX(double x)
 {
-    if (this->x != x)
-    {
+    if (this->x != x) {
         this->x = x;
         emit changed(this);
     }
@@ -116,8 +114,7 @@ void Waypoint::setX(double x)
 
 void Waypoint::setY(double y)
 {
-    if (this->y != y)
-    {
+    if (this->y != y) {
         this->y = y;
         emit changed(this);
     }
@@ -125,8 +122,7 @@ void Waypoint::setY(double y)
 
 void Waypoint::setZ(double z)
 {
-    if (this->z != z)
-    {
+    if (this->z != z) {
         this->z = z;
         emit changed(this);
     }
@@ -134,8 +130,7 @@ void Waypoint::setZ(double z)
 
 void Waypoint::setLatitude(double lat)
 {
-    if (this->x != lat)
-    {
+    if (this->x != lat) {
         this->x = lat;
         this->frame = MAV_FRAME_GLOBAL;
         emit changed(this);
@@ -144,8 +139,7 @@ void Waypoint::setLatitude(double lat)
 
 void Waypoint::setLongitude(double lon)
 {
-    if (this->y != lon)
-    {
+    if (this->y != lon) {
         this->y = lon;
         this->frame = MAV_FRAME_GLOBAL;
         emit changed(this);
@@ -154,8 +148,7 @@ void Waypoint::setLongitude(double lon)
 
 void Waypoint::setAltitude(double altitude)
 {
-    if (this->z != altitude)
-    {
+    if (this->z != altitude) {
         this->z = altitude;
         this->frame = MAV_FRAME_GLOBAL;
         emit changed(this);
@@ -164,8 +157,7 @@ void Waypoint::setAltitude(double altitude)
 
 void Waypoint::setYaw(int yaw)
 {
-    if (this->yaw != yaw)
-    {
+    if (this->yaw != yaw) {
         this->yaw = yaw;
         emit changed(this);
     }
@@ -173,8 +165,7 @@ void Waypoint::setYaw(int yaw)
 
 void Waypoint::setYaw(double yaw)
 {
-    if (this->yaw != yaw)
-    {
+    if (this->yaw != yaw) {
         this->yaw = yaw;
         emit changed(this);
     }
@@ -182,8 +173,7 @@ void Waypoint::setYaw(double yaw)
 
 void Waypoint::setAction(int action)
 {
-    if (this->action != (MAV_CMD)action)
-    {
+    if (this->action != (MAV_CMD)action) {
         this->action = (MAV_CMD)action;
         emit changed(this);
     }
@@ -191,8 +181,7 @@ void Waypoint::setAction(int action)
 
 void Waypoint::setAction(MAV_CMD action)
 {
-    if (this->action != action)
-    {
+    if (this->action != action) {
         this->action = action;
         emit changed(this);
     }
@@ -200,8 +189,7 @@ void Waypoint::setAction(MAV_CMD action)
 
 void Waypoint::setFrame(MAV_FRAME frame)
 {
-    if (this->frame != frame)
-    {
+    if (this->frame != frame) {
         this->frame = frame;
         emit changed(this);
     }
@@ -209,8 +197,7 @@ void Waypoint::setFrame(MAV_FRAME frame)
 
 void Waypoint::setAutocontinue(bool autoContinue)
 {
-    if (this->autocontinue != autocontinue)
-    {
+    if (this->autocontinue != autocontinue) {
         this->autocontinue = autoContinue;
         emit changed(this);
     }
@@ -218,8 +205,7 @@ void Waypoint::setAutocontinue(bool autoContinue)
 
 void Waypoint::setCurrent(bool current)
 {
-    if (this->current != current)
-    {
+    if (this->current != current) {
         this->current = current;
         emit changed(this);
     }
@@ -227,8 +213,7 @@ void Waypoint::setCurrent(bool current)
 
 void Waypoint::setAcceptanceRadius(double radius)
 {
-    if (this->param2 != radius)
-    {
+    if (this->param2 != radius) {
         this->param2 = radius;
         emit changed(this);
     }
@@ -238,8 +223,7 @@ void Waypoint::setParam1(double param1)
 {
     qDebug() << "SENDER:" << QObject::sender();
     qDebug() << "PARAM1 SET REQ:" << param1;
-    if (this->param1 != param1)
-    {
+    if (this->param1 != param1) {
         this->param1 = param1;
         emit changed(this);
     }
@@ -247,8 +231,7 @@ void Waypoint::setParam1(double param1)
 
 void Waypoint::setParam2(double param2)
 {
-    if (this->param2 != param2)
-    {
+    if (this->param2 != param2) {
         this->param2 = param2;
         emit changed(this);
     }
@@ -256,8 +239,7 @@ void Waypoint::setParam2(double param2)
 
 void Waypoint::setParam3(double param3)
 {
-    if (this->orbit != param3)
-    {
+    if (this->orbit != param3) {
         this->orbit = param3;
         emit changed(this);
     }
@@ -265,8 +247,7 @@ void Waypoint::setParam3(double param3)
 
 void Waypoint::setParam4(double param4)
 {
-    if (this->yaw != param4)
-    {
+    if (this->yaw != param4) {
         this->yaw = param4;
         emit changed(this);
     }
@@ -274,8 +255,7 @@ void Waypoint::setParam4(double param4)
 
 void Waypoint::setParam5(double param5)
 {
-    if (this->x != param5)
-    {
+    if (this->x != param5) {
         this->x = param5;
         emit changed(this);
     }
@@ -283,8 +263,7 @@ void Waypoint::setParam5(double param5)
 
 void Waypoint::setParam6(double param6)
 {
-    if (this->y != param6)
-    {
+    if (this->y != param6) {
         this->y = param6;
         emit changed(this);
     }
@@ -292,8 +271,7 @@ void Waypoint::setParam6(double param6)
 
 void Waypoint::setParam7(double param7)
 {
-    if (this->z != param7)
-    {
+    if (this->z != param7) {
         this->z = param7;
         emit changed(this);
     }
@@ -301,8 +279,7 @@ void Waypoint::setParam7(double param7)
 
 void Waypoint::setLoiterOrbit(double orbit)
 {
-    if (this->orbit != orbit)
-    {
+    if (this->orbit != orbit) {
         this->orbit = orbit;
         emit changed(this);
     }
@@ -310,8 +287,7 @@ void Waypoint::setLoiterOrbit(double orbit)
 
 void Waypoint::setHoldTime(int holdTime)
 {
-    if (this->param1 != holdTime)
-    {
+    if (this->param1 != holdTime) {
         this->param1 = holdTime;
         emit changed(this);
     }
@@ -319,8 +295,7 @@ void Waypoint::setHoldTime(int holdTime)
 
 void Waypoint::setHoldTime(double holdTime)
 {
-    if (this->param1 != holdTime)
-    {
+    if (this->param1 != holdTime) {
         this->param1 = holdTime;
         emit changed(this);
     }
@@ -328,8 +303,7 @@ void Waypoint::setHoldTime(double holdTime)
 
 void Waypoint::setTurns(int turns)
 {
-    if (this->param1 != turns)
-    {
+    if (this->param1 != turns) {
         this->param1 = turns;
         emit changed(this);
     }

src/Waypoint.h

@@ -47,30 +47,78 @@ public:
              bool autocontinue = true, bool current = false, MAV_FRAME frame=MAV_FRAME_GLOBAL, MAV_CMD action=MAV_CMD_NAV_WAYPOINT);
     ~Waypoint();
 
-    quint16 getId() const { return id; }
-    double getX() const { return x; }
-    double getY() const { return y; }
-    double getZ() const { return z; }
-    double getLatitude() const { return x; }
-    double getLongitude() const { return y; }
-    double getAltitude() const { return z; }
-    double getYaw() const { return yaw; }
-    bool getAutoContinue() const { return autocontinue; }
-    bool getCurrent() const { return current; }
-    double getLoiterOrbit() const { return orbit; }
-    double getAcceptanceRadius() const { return param2; }
-    double getHoldTime() const { return param1; }
-    double getParam1() const { return param1; }
-    double getParam2() const { return param2; }
-    double getParam3() const { return orbit; }
-    double getParam4() const { return yaw; }
-    double getParam5() const { return x; }
-    double getParam6() const { return y; }
-    double getParam7() const { return z; }
-    int getTurns() const { return param1; }
-    MAV_FRAME getFrame() const { return frame; }
-    MAV_CMD getAction() const { return action; }
-    const QString& getName() const { return name; }
+    quint16 getId() const {
+        return id;
+    }
+    double getX() const {
+        return x;
+    }
+    double getY() const {
+        return y;
+    }
+    double getZ() const {
+        return z;
+    }
+    double getLatitude() const {
+        return x;
+    }
+    double getLongitude() const {
+        return y;
+    }
+    double getAltitude() const {
+        return z;
+    }
+    double getYaw() const {
+        return yaw;
+    }
+    bool getAutoContinue() const {
+        return autocontinue;
+    }
+    bool getCurrent() const {
+        return current;
+    }
+    double getLoiterOrbit() const {
+        return orbit;
+    }
+    double getAcceptanceRadius() const {
+        return param2;
+    }
+    double getHoldTime() const {
+        return param1;
+    }
+    double getParam1() const {
+        return param1;
+    }
+    double getParam2() const {
+        return param2;
+    }
+    double getParam3() const {
+        return orbit;
+    }
+    double getParam4() const {
+        return yaw;
+    }
+    double getParam5() const {
+        return x;
+    }
+    double getParam6() const {
+        return y;
+    }
+    double getParam7() const {
+        return z;
+    }
+    int getTurns() const {
+        return param1;
+    }
+    MAV_FRAME getFrame() const {
+        return frame;
+    }
+    MAV_CMD getAction() const {
+        return action;
+    }
+    const QString& getName() const {
+        return name;
+    }
     /** @brief Returns true if x, y, z contain reasonable navigation data */
     bool isNavigationType();
 

src/comm/AS4Protocol.cc

@@ -20,7 +20,7 @@ This file is part of the QGROUNDCONTROL project
     along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
- 
+
 /**
  * @file
  *   @brief Brief Description
@@ -54,26 +54,26 @@ AS4Protocol::AS4Protocol()
 //    heartbeatTimer = new QTimer(this);
 //    connect(heartbeatTimer, SIGNAL(timeout()), this, SLOT());
 //    heartbeatTimer->start(1000/heartbeatRate);
-/*
-    // Start the node manager
-    configData = new FileLoader("nodeManager.conf");
-    handler = new MyHandler();
-
-        try
-        {
-                nodeManager = new NodeManager(configData, handler);
-                qDebug() << "SAE AS-4 NODE MANAGER constructed";
-        }
-        catch(char *exceptionString)
-        {
-                printf("%s", exceptionString);
-                printf("Terminating Program...\n");
-        }
-        catch(...)
-        {
-                printf("Node Manager Construction Failed. Terminating Program...\n");
-        }
-        */
+    /*
+        // Start the node manager
+        configData = new FileLoader("nodeManager.conf");
+        handler = new MyHandler();
+
+            try
+            {
+                    nodeManager = new NodeManager(configData, handler);
+                    qDebug() << "SAE AS-4 NODE MANAGER constructed";
+            }
+            catch(char *exceptionString)
+            {
+                    printf("%s", exceptionString);
+                    printf("Terminating Program...\n");
+            }
+            catch(...)
+            {
+                    printf("Node Manager Construction Failed. Terminating Program...\n");
+            }
+            */
 
 }
 
@@ -86,8 +86,7 @@ AS4Protocol::~AS4Protocol()
 
 void AS4Protocol::run()
 {
-    forever
-    {
+    forever {
         QGC::SLEEP::msleep(5000);
     }
 }
@@ -126,8 +125,7 @@ void AS4Protocol::receiveBytes(LinkInterface* link)
 //    qDebug() << __FILE__ << __LINE__ << ": buffer size:" << maxlen << "bytes:" << bytesToRead;
 //
 
-    for (int position = 0; position < bytesToRead; position++)
-    {
+    for (int position = 0; position < bytesToRead; position++) {
     }
 //    receiveMutex.unlock();
 

src/comm/AS4Protocol.h

 /*=====================================================================
- 
+
 PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
- 
+
 (c) 2009 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
- 
+
 This file is part of the PIXHAWK project
- 
+
     PIXHAWK is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
- 
+
     PIXHAWK is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
- 
+
     You should have received a copy of the GNU General Public License
     along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
- 
+
 ======================================================================*/
- 
+
 /**
  * @file
  *   @brief Brief Description
@@ -109,7 +109,8 @@ public:
  * SAE AS-4 Nodemanager
  *
  **/
-class AS4Protocol : public ProtocolInterface {
+class AS4Protocol : public ProtocolInterface
+{
     Q_OBJECT
 
 public:

src/comm/LinkInterface.h

@@ -39,7 +39,8 @@ along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
 * with the groundstation application.
 *
 **/
-class LinkInterface : public QThread {
+class LinkInterface : public QThread
+{
     Q_OBJECT
 public:
     LinkInterface(QObject* parent = 0) : QThread(parent) {}
@@ -232,21 +233,20 @@ signals:
     void communicationError(const QString& linkname, const QString& error);
 
 protected:
-    static int getNextLinkId()
-    {
+    static int getNextLinkId() {
         static int nextId = 0;
         return nextId++;
     }
 
 protected slots:
 
-/**
- * @brief Read a number of bytes from the interface.
- *
- * @param bytes The pointer to write the bytes to
- * @param maxLength The maximum length which can be written
- **/
-virtual void readBytes() = 0;
+    /**
+     * @brief Read a number of bytes from the interface.
+     *
+     * @param bytes The pointer to write the bytes to
+     * @param maxLength The maximum length which can be written
+     **/
+    virtual void readBytes() = 0;
 
 };
 

src/comm/LinkManager.cc

@@ -20,7 +20,7 @@ This file is part of the QGROUNDCONTROL project
     along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/
- 
+
 /**
  * @file
  *   @brief Brief Description
@@ -36,27 +36,28 @@ This file is part of the QGROUNDCONTROL project
 
 #include <QDebug>
 
-LinkManager* LinkManager::instance() {
-	static LinkManager* _instance = 0;
-	if(_instance == 0) {
-		_instance = new LinkManager();
-		
-		/* Set the application as parent to ensure that this object
-		 * will be destroyed when the main application exits */
-		_instance->setParent(qApp);
-	}
-	return _instance;
+LinkManager* LinkManager::instance()
+{
+    static LinkManager* _instance = 0;
+    if(_instance == 0) {
+        _instance = new LinkManager();
+
+        /* Set the application as parent to ensure that this object
+         * will be destroyed when the main application exits */
+        _instance->setParent(qApp);
+    }
+    return _instance;
 }
 
 /**
  * @brief Private singleton constructor
- * 
+ *
  * This class implements the singleton design pattern and has therefore only a private constructor.
  **/
 LinkManager::LinkManager()
 {
-        links = QList<LinkInterface*>();
-        protocolLinks = QMap<ProtocolInterface*, LinkInterface*>();
+    links = QList<LinkInterface*>();
+    protocolLinks = QMap<ProtocolInterface*, LinkInterface*>();
 }
 
 LinkManager::~LinkManager()
@@ -66,8 +67,7 @@ LinkManager::~LinkManager()
 
 void LinkManager::add(LinkInterface* link)
 {
-    if (!links.contains(link))
-    {
+    if (!links.contains(link)) {
         if(!link) return;
         connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
         links.append(link);
@@ -85,8 +85,7 @@ void LinkManager::addProtocol(LinkInterface* link, ProtocolInterface* protocol)
 
     // If protocol has not been added before (list length == 0)
     // OR if link has not been added to protocol, add
-    if ((linkList.length() > 0 && !linkList.contains(link)) || linkList.length() == 0)
-    {
+    if ((linkList.length() > 0 && !linkList.contains(link)) || linkList.length() == 0) {
         // Protocol is new, add
         connect(link, SIGNAL(bytesReceived(LinkInterface*, QByteArray)), protocol, SLOT(receiveBytes(LinkInterface*, QByteArray)));
         // Store the connection information in the protocol links map
@@ -103,72 +102,65 @@ QList<LinkInterface*> LinkManager::getLinksForProtocol(ProtocolInterface* protoc
 
 bool LinkManager::connectAll()
 {
-	bool allConnected = true;
-	
-        foreach (LinkInterface* link, links)
-        {
-            if(!link) {}
-            else if(!link->connect()) allConnected = false;
-	}
-	
-	return allConnected;
+    bool allConnected = true;
+
+    foreach (LinkInterface* link, links) {
+        if(!link) {}
+        else if(!link->connect()) allConnected = false;
+    }
+
+    return allConnected;
 }
 
 bool LinkManager::disconnectAll()
 {
-	bool allDisconnected = true;
-	
-        foreach (LinkInterface* link, links)
-        {
-            //static int i=0;
-            if(!link){}
-            else if(!link->disconnect()) allDisconnected = false;
-	}
-	
-	return allDisconnected;
+    bool allDisconnected = true;
+
+    foreach (LinkInterface* link, links) {
+        //static int i=0;
+        if(!link) {}
+        else if(!link->disconnect()) allDisconnected = false;
+    }
+
+    return allDisconnected;
 }
 
 bool LinkManager::connectLink(LinkInterface* link)
 {
-        if(!link) return false;
-	return link->connect();
+    if(!link) return false;
+    return link->connect();
 }
 
 bool LinkManager::disconnectLink(LinkInterface* link)
 {
-        if(!link) return false;
-	return link->disconnect();
+    if(!link) return false;
+    return link->disconnect();
 }
 
 void LinkManager::removeLink(QObject* link)
 {
     LinkInterface* linkInterface = dynamic_cast<LinkInterface*>(link);
-    if (linkInterface)
-    {
+    if (linkInterface) {
         removeLink(linkInterface);
     }
 }
 
 bool LinkManager::removeLink(LinkInterface* link)
 {
-        if(link)
-        {
-            for (int i=0; i < QList<LinkInterface*>(links).size(); i++)
-            {
-                if(link==links.at(i))
-                {
-                    links.removeAt(i); //remove from link list
-                }
+    if(link) {
+        for (int i=0; i < QList<LinkInterface*>(links).size(); i++) {
+            if(link==links.at(i)) {
+                links.removeAt(i); //remove from link list
             }
-            // Remove link from protocol map
-            QList<ProtocolInterface* > protocols = protocolLinks.keys(link);
-            foreach (ProtocolInterface* proto, protocols)
-            {
-                protocolLinks.remove(proto, link);
-            }
-            return true;
         }
-        return false;
+        // Remove link from protocol map
+        QList<ProtocolInterface* > protocols = protocolLinks.keys(link);
+        foreach (ProtocolInterface* proto, protocols) {
+            protocolLinks.remove(proto, link);
+        }
+        return true;
+    }
+    return false;
 }
 
 /**
@@ -179,8 +171,7 @@ bool LinkManager::removeLink(LinkInterface* link)
  */
 LinkInterface* LinkManager::getLinkForId(int id)
 {
-    foreach (LinkInterface* link, links)
-    {
+    foreach (LinkInterface* link, links) {
         if (link->getId() == id) return link;
     }
     return NULL;

src/comm/LinkManager.h

 /*=====================================================================
- 
+
 PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
- 
+
 (c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
- 
+
 This file is part of the PIXHAWK project
- 
+
     PIXHAWK is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation, either version 3 of the License, or
     (at your option) any later version.
- 
+
     PIXHAWK is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
- 
+
     You should have received a copy of the GNU General Public License
     along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
- 
+
 ======================================================================*/
- 
+
 /**
  * @file
  *   @brief Manage communication links
@@ -63,7 +63,9 @@ public:
     const QList<LinkInterface*> getLinks();
 
     /** @brief Get a list of all protocols */
-    const QList<ProtocolInterface*> getProtocols() { return protocolLinks.uniqueKeys(); }
+    const QList<ProtocolInterface*> getProtocols() {
+        return protocolLinks.uniqueKeys();
+    }
 
 public slots:
 

src/comm/MAVLinkProtocol.h

@@ -49,7 +49,8 @@ This file is part of the QGROUNDCONTROL project
  * for more information, please see the official website.
  * @ref http://pixhawk.ethz.ch/software/mavlink/
  **/
-class MAVLinkProtocol : public ProtocolInterface {
+class MAVLinkProtocol : public ProtocolInterface
+{
     Q_OBJECT
 
 public:
@@ -66,31 +67,55 @@ public:
     /** @brief The auto heartbeat emission rate in Hertz */
     int getHeartbeatRate();
     /** @brief Get heartbeat state */
-    bool heartbeatsEnabled() const { return m_heartbeatsEnabled; }
+    bool heartbeatsEnabled() const {
+        return m_heartbeatsEnabled;
+    }
     /** @brief Get logging state */
-    bool loggingEnabled() const { return m_loggingEnabled; }
+    bool loggingEnabled() const {
+        return m_loggingEnabled;
+    }
     /** @brief Get protocol version check state */
-    bool versionCheckEnabled() const { return m_enable_version_check; }
+    bool versionCheckEnabled() const {
+        return m_enable_version_check;
+    }
     /** @brief Get the multiplexing state */
-    bool multiplexingEnabled() const { return m_multiplexingEnabled; }
+    bool multiplexingEnabled() const {
+        return m_multiplexingEnabled;
+    }
     /** @brief Get the authentication state */
-    bool getAuthEnabled() { return m_authEnabled; }
+    bool getAuthEnabled() {
+        return m_authEnabled;
+    }
     /** @brief Get the protocol version */
-    int getVersion() { return MAVLINK_VERSION; }
+    int getVersion() {
+        return MAVLINK_VERSION;
+    }
     /** @brief Get the auth key */
-    QString getAuthKey() { return m_authKey; }
+    QString getAuthKey() {
+        return m_authKey;
+    }
     /** @brief Get the name of the packet log file */
     QString getLogfileName();
     /** @brief Get state of parameter retransmission */
-    bool paramGuardEnabled() { return m_paramGuardEnabled; }
+    bool paramGuardEnabled() {
+        return m_paramGuardEnabled;
+    }
     /** @brief Get parameter read timeout */
-    int getParamRetransmissionTimeout() { return m_paramRetransmissionTimeout; }
+    int getParamRetransmissionTimeout() {
+        return m_paramRetransmissionTimeout;
+    }
     /** @brief Get parameter write timeout */
-    int getParamRewriteTimeout() { return m_paramRewriteTimeout; }
+    int getParamRewriteTimeout() {
+        return m_paramRewriteTimeout;
+    }
     /** @brief Get state of action retransmission */
-    bool actionGuardEnabled() { return m_actionGuardEnabled; }
+    bool actionGuardEnabled() {
+        return m_actionGuardEnabled;
+    }
     /** @brief Get parameter read timeout */
-    int getActionRetransmissionTimeout() { return m_actionRetransmissionTimeout; }
+    int getActionRetransmissionTimeout() {
+        return m_actionRetransmissionTimeout;
+    }
 
 public slots:
     /** @brief Receive bytes from a communication interface */
@@ -138,7 +163,9 @@ public slots:
     void enableAuth(bool enable);
 
     /** @brief Set authentication token */
-    void setAuthKey(QString key) { m_authKey = key;}
+    void setAuthKey(QString key) {
+        m_authKey = key;
+    }
 
     /** @brief Send an extra heartbeat to all connected units */
     void sendHeartbeat();

src/comm/MAVLinkSimulationMAV.cc

@@ -5,37 +5,37 @@
 #include "MAVLinkSimulationMAV.h"
 
 MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid, double lat, double lon, int version) :
-        QObject(parent),
-        link(parent),
-        planner(parent, systemid),
-        systemid(systemid),
-        timer25Hz(0),
-        timer10Hz(0),
-        timer1Hz(0),
-        latitude(lat),
-        longitude(lon),
-        altitude(0.0),
-        x(lat),
-        y(lon),
-        z(550),
-        roll(0.0),
-        pitch(0.0),
-        yaw(0.0),
-        globalNavigation(true),
-        firstWP(false),
-        previousSPX(8.548056),
-        previousSPY(47.376389),
-        previousSPZ(550),
-        previousSPYaw(0.0),
-        nextSPX(8.548056),
-        nextSPY(47.376389),
-        nextSPZ(550),
-        nextSPYaw(0.0),
-        sys_mode(MAV_MODE_READY),
-        sys_state(MAV_STATE_STANDBY),
-        nav_mode(MAV_NAV_GROUNDED),
-        flying(false),
-        mavlink_version(version)
+    QObject(parent),
+    link(parent),
+    planner(parent, systemid),
+    systemid(systemid),
+    timer25Hz(0),
+    timer10Hz(0),
+    timer1Hz(0),
+    latitude(lat),
+    longitude(lon),
+    altitude(0.0),
+    x(lat),
+    y(lon),
+    z(550),
+    roll(0.0),
+    pitch(0.0),
+    yaw(0.0),
+    globalNavigation(true),
+    firstWP(false),
+    previousSPX(8.548056),
+    previousSPY(47.376389),
+    previousSPZ(550),
+    previousSPYaw(0.0),
+    nextSPX(8.548056),
+    nextSPY(47.376389),
+    nextSPZ(550),
+    nextSPYaw(0.0),
+    sys_mode(MAV_MODE_READY),
+    sys_state(MAV_STATE_STANDBY),
+    nav_mode(MAV_NAV_GROUNDED),
+    flying(false),
+    mavlink_version(version)
 {
     // Please note: The waypoint planner is running
     connect(&mainloopTimer, SIGNAL(timeout()), this, SLOT(mainloop()));
@@ -52,16 +52,14 @@ void MAVLinkSimulationMAV::mainloop()
 
     //        double xNew = // (nextSPX - previousSPX)
 
-    if (flying)
-    {
+    if (flying) {
         sys_state = MAV_STATE_ACTIVE;
         sys_mode = MAV_MODE_AUTO;
         nav_mode = MAV_NAV_WAYPOINT;
     }
 
     // 1 Hz execution
-    if (timer1Hz <= 0)
-    {
+    if (timer1Hz <= 0) {
         mavlink_message_t msg;
         mavlink_msg_heartbeat_pack_version_free(systemid, MAV_COMP_ID_IMU, &msg, MAV_FIXED_WING, MAV_AUTOPILOT_PIXHAWK, mavlink_version);
         link->sendMAVLinkMessage(&msg);
@@ -83,8 +81,7 @@ void MAVLinkSimulationMAV::mainloop()
     }
 
     // 10 Hz execution
-    if (timer10Hz <= 0)
-    {
+    if (timer10Hz <= 0) {
         double radPer100ms = 0.00006;
         double altPer100ms = 0.4;
         double xm = (nextSPX - x);
@@ -93,35 +90,28 @@ void MAVLinkSimulationMAV::mainloop()
 
         float zsign = (zm < 0) ? -1.0f : 1.0f;
 
-        if (!firstWP)
-        {
+        if (!firstWP) {
             //float trueyaw = atan2f(xm, ym);
 
             float newYaw = atan2f(ym, xm);
 
-            if (fabs(yaw - newYaw) < 90)
-            {
+            if (fabs(yaw - newYaw) < 90) {
                 yaw = yaw*0.7 + 0.3*newYaw;
-            }
-            else
-            {
+            } else {
                 yaw = newYaw;
             }
 
             //qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw;
 
             //if (sqrt(xm*xm+ym*ym) > 0.0000001)
-            if (flying)
-            {
+            if (flying) {
                 x += cos(yaw)*radPer100ms;
                 y += sin(yaw)*radPer100ms;
                 z += altPer100ms*zsign;
             }
 
             //if (xm < 0.001) xm
-        }
-        else
-        {
+        } else {
             x = nextSPX;
             y = nextSPY;
             z = nextSPZ;
@@ -205,12 +195,11 @@ void MAVLinkSimulationMAV::mainloop()
     }
 
     // 25 Hz execution
-    if (timer25Hz <= 0)
-    {
+    if (timer25Hz <= 0) {
         // The message container to be used for sending
         mavlink_message_t ret;
 
-        #ifdef MAVLINK_ENABLED_PIXHAWK
+#ifdef MAVLINK_ENABLED_PIXHAWK
         // Send which controllers are active
         mavlink_control_status_t control_status;
         control_status.control_att = 1;
@@ -223,7 +212,7 @@ void MAVLinkSimulationMAV::mainloop()
         control_status.ahrs_health = 230;
         mavlink_msg_control_status_encode(systemid, MAV_COMP_ID_IMU, &ret, &control_status);
         link->sendMAVLinkMessage(&ret);
-        #endif //MAVLINK_ENABLED_PIXHAWK
+#endif //MAVLINK_ENABLED_PIXHAWK
 
         // Send actual controller outputs
         // This message just shows the direction
@@ -301,70 +290,62 @@ void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
 {
     //qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid;
 
-    switch(msg.msgid)
-    {
+    switch(msg.msgid) {
     case MAVLINK_MSG_ID_ATTITUDE:
         break;
-    case MAVLINK_MSG_ID_SET_MODE:
-        {
-            mavlink_set_mode_t mode;
-            mavlink_msg_set_mode_decode(&msg, &mode);
-            if (systemid == mode.target) sys_mode = mode.mode;
-        }
-        break;
-    case MAVLINK_MSG_ID_ACTION:
-        {
-            mavlink_action_t action;
-            mavlink_msg_action_decode(&msg, &action);
-            if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU))
-            {
-                mavlink_action_ack_t ack;
-                ack.action = action.action;
-                switch (action.action)
-                {
-                case MAV_ACTION_TAKEOFF:
-                    flying = true;
-                    nav_mode = MAV_NAV_LIFTOFF;
-                    ack.result = 1;
-                    break;
-                default:
-                    {
-                        ack.result = 0;
-                    }
-                    break;
-                }
-
-                // Give feedback about action
-                mavlink_message_t r_msg;
-                mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
-                link->sendMAVLinkMessage(&r_msg);
+    case MAVLINK_MSG_ID_SET_MODE: {
+        mavlink_set_mode_t mode;
+        mavlink_msg_set_mode_decode(&msg, &mode);
+        if (systemid == mode.target) sys_mode = mode.mode;
+    }
+    break;
+    case MAVLINK_MSG_ID_ACTION: {
+        mavlink_action_t action;
+        mavlink_msg_action_decode(&msg, &action);
+        if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
+            mavlink_action_ack_t ack;
+            ack.action = action.action;
+            switch (action.action) {
+            case MAV_ACTION_TAKEOFF:
+                flying = true;
+                nav_mode = MAV_NAV_LIFTOFF;
+                ack.result = 1;
+                break;
+            default: {
+                ack.result = 0;
             }
-        }
-        break;
-    case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
-        {
-            mavlink_local_position_setpoint_set_t sp;
-            mavlink_msg_local_position_setpoint_set_decode(&msg, &sp);
-            if (sp.target_system == this->systemid)
-            {
-                nav_mode = MAV_NAV_WAYPOINT;
-                previousSPX = nextSPX;
-                previousSPY = nextSPY;
-                previousSPZ = nextSPZ;
-                nextSPX = sp.x;
-                nextSPY = sp.y;
-                nextSPZ = sp.z;
-
-                // Rotary wing
-                //nextSPYaw = sp.yaw;
-
-                // Airplane
-                //yaw = atan2(previousSPX-nextSPX, previousSPY-nextSPY);
-
-                //if (!firstWP) firstWP = true;
+            break;
             }
-            //qDebug() << "UPDATED SP:" << "X" << nextSPX << "Y" << nextSPY << "Z" << nextSPZ;
+
+            // Give feedback about action
+            mavlink_message_t r_msg;
+            mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
+            link->sendMAVLinkMessage(&r_msg);
         }
-        break;
+    }
+    break;
+    case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET: {
+        mavlink_local_position_setpoint_set_t sp;
+        mavlink_msg_local_position_setpoint_set_decode(&msg, &sp);
+        if (sp.target_system == this->systemid) {
+            nav_mode = MAV_NAV_WAYPOINT;
+            previousSPX = nextSPX;
+            previousSPY = nextSPY;
+            previousSPZ = nextSPZ;
+            nextSPX = sp.x;
+            nextSPY = sp.y;
+            nextSPZ = sp.z;
+
+            // Rotary wing
+            //nextSPYaw = sp.yaw;
+
+            // Airplane
+            //yaw = atan2(previousSPX-nextSPX, previousSPY-nextSPY);
+
+            //if (!firstWP) firstWP = true;
+        }
+        //qDebug() << "UPDATED SP:" << "X" << nextSPX << "Y" << nextSPY << "Z" << nextSPZ;
+    }
+    break;
     }
 }

src/comm/MAVLinkSimulationMAV.h

@@ -55,16 +55,15 @@ protected:
     bool flying;
     int mavlink_version;
 
-    static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version)
-    {
-            uint16_t i = 0;
-            msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
+    static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) {
+        uint16_t i = 0;
+        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
 
-            i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
-            i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
-            i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version
+        i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+        i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
+        i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version
 
-            return mavlink_finalize_message(msg, system_id, component_id, i);
+        return mavlink_finalize_message(msg, system_id, component_id, i);
     }
 
 };

src/comm/MAVLinkSimulationWaypointPlanner.h

@@ -7,8 +7,7 @@
 #include "MAVLinkSimulationLink.h"
 #include "QGCMAVLink.h"
 
-enum PX_WAYPOINTPLANNER_STATES
-{
+enum PX_WAYPOINTPLANNER_STATES {
     PX_WPP_IDLE = 0,
     PX_WPP_SENDLIST,
     PX_WPP_SENDLIST_SENDWPS,

src/comm/MAVLinkSyntaxHighlighter.cc

@@ -30,17 +30,17 @@ MAVLinkSyntaxHighlighter::MAVLinkSyntaxHighlighter(QObject *parent) :
 
 
 void MAVLinkSyntaxHighlighter::highlightBlock(const QString &text)
- {
-     QTextCharFormat myClassFormat;
-     myClassFormat.setFontWeight(QFont::Bold);
-     myClassFormat.setForeground(Qt::darkMagenta);
-     QString pattern = "\"[A-Za-z0-9]+\"";
-
-     QRegExp expression(pattern);
-     int index = text.indexOf(expression);
-     while (index >= 0) {
-         int length = expression.matchedLength();
-         setFormat(index, length, myClassFormat);
-         index = text.indexOf(expression, index + length);
-     }
- }
+{
+    QTextCharFormat myClassFormat;
+    myClassFormat.setFontWeight(QFont::Bold);
+    myClassFormat.setForeground(Qt::darkMagenta);
+    QString pattern = "\"[A-Za-z0-9]+\"";
+
+    QRegExp expression(pattern);
+    int index = text.indexOf(expression);
+    while (index >= 0) {
+        int length = expression.matchedLength();
+        setFormat(index, length, myClassFormat);
+        index = text.indexOf(expression, index + length);
+    }
+}

src/comm/MAVLinkSyntaxHighlighter.h

@@ -5,7 +5,7 @@
 
 class MAVLinkSyntaxHighlighter : public QSyntaxHighlighter
 {
-Q_OBJECT
+    Q_OBJECT
 public:
     explicit MAVLinkSyntaxHighlighter(QObject *parent = 0);
 

src/comm/OpalLink.h

@@ -96,7 +96,9 @@ public:
 
     void run();
 
-    int getOpalInstID() {return static_cast<int>(opalInstID);}
+    int getOpalInstID() {
+        return static_cast<int>(opalInstID);
+    }
 
 public slots:
 
@@ -108,7 +110,9 @@ public slots:
 
     void getSignals();
 
-    void setOpalInstID(int instID) {opalInstID = static_cast<unsigned short>(instID);}
+    void setOpalInstID(int instID) {
+        opalInstID = static_cast<unsigned short>(instID);
+    }
 
 protected slots:
 

src/comm/OpalRT.cc

@@ -2,25 +2,25 @@
 
 namespace OpalRT
 {
-    //    lastErrorMsg = QString();
-    void OpalErrorMsg::displayLastErrorMsg()
-    {
-        static QString lastErrorMsg;
-        setLastErrorMsg();
-        QMessageBox msgBox;
-        msgBox.setIcon(QMessageBox::Critical);
-        msgBox.setText(lastErrorMsg);
-        msgBox.exec();
-    }
+//    lastErrorMsg = QString();
+void OpalErrorMsg::displayLastErrorMsg()
+{
+    static QString lastErrorMsg;
+    setLastErrorMsg();
+    QMessageBox msgBox;
+    msgBox.setIcon(QMessageBox::Critical);
+    msgBox.setText(lastErrorMsg);
+    msgBox.exec();
+}
 
-    void OpalErrorMsg::setLastErrorMsg()
-    {
-        char* buf = new char[512];
-        unsigned short len;
-        static QString lastErrorMsg;
-        OpalGetLastErrMsg(buf, sizeof(buf), &len);
-        lastErrorMsg.clear();
-        lastErrorMsg.append(buf);
-        delete buf;
-    }
+void OpalErrorMsg::setLastErrorMsg()
+{
+    char* buf = new char[512];
+    unsigned short len;
+    static QString lastErrorMsg;
+    OpalGetLastErrMsg(buf, sizeof(buf), &len);
+    lastErrorMsg.clear();
+    lastErrorMsg.append(buf);
+    delete buf;
+}
 }

src/comm/Parameter.cc

@@ -41,17 +41,17 @@ using namespace OpalRT;
 //}
 Parameter::Parameter(QString simulinkPath, QString simulinkName, uint8_t componentID,
                      QGCParamID paramID, unsigned short opalID)
-                         : simulinkPath(new QString(simulinkPath)),
-                         simulinkName(new QString(simulinkName)),
-                         componentID(componentID),
-                         paramID(new QGCParamID(paramID)),
-                         opalID(opalID)
+    : simulinkPath(new QString(simulinkPath)),
+      simulinkName(new QString(simulinkName)),
+      componentID(componentID),
+      paramID(new QGCParamID(paramID)),
+      opalID(opalID)
 
 {
 }
 Parameter::Parameter(const Parameter &other)
     : componentID(other.componentID),
-    opalID(other.opalID)
+      opalID(other.opalID)
 {
     simulinkPath = new QString(*other.simulinkPath);
     simulinkName = new QString(*other.simulinkName);
@@ -68,11 +68,11 @@ Parameter::~Parameter()
 bool Parameter::operator ==(const Parameter& other) const
 {
     return
-            (*simulinkPath) == *(other.simulinkPath)
-            && *simulinkName == *(other.simulinkName)
-            && componentID == other.componentID
-            && *paramID == *(other.paramID)
-            && opalID == other.opalID;
+        (*simulinkPath) == *(other.simulinkPath)
+        && *simulinkName == *(other.simulinkName)
+        && componentID == other.componentID
+        && *paramID == *(other.paramID)
+        && opalID == other.opalID;
 
 }
 
@@ -87,8 +87,7 @@ float Parameter::getValue()
     int returnVal = OpalGetParameters(allocatedParams, &numParams, &opalID,
                                       numValues, &returnedNumValues, &value);
 
-    if (returnVal != EOK)
-    {
+    if (returnVal != EOK) {
         OpalRT::OpalErrorMsg::displayLastErrorMsg();
         return FLT_MAX;
     }
@@ -106,8 +105,7 @@ void Parameter::setValue(float val)
 
     int returnVal = OpalSetParameters(allocatedParams, &numParams, &opalID,
                                       numValues, &returnedNumValues, &value);
-    if (returnVal != EOK)
-    {
+    if (returnVal != EOK) {
         //qDebug() << __FILE__ << ":" << __LINE__ << ": Error numer: " << QString::number(returnVal);
         OpalErrorMsg::displayLastErrorMsg();
     }
@@ -116,5 +114,5 @@ void Parameter::setValue(float val)
 Parameter::operator QString() const
 {
     return *simulinkPath + *simulinkName + " " + QString::number(componentID)
-            + " " + *paramID + " " + QString::number(opalID);
+           + " " + *paramID + " " + QString::number(opalID);
 }

src/comm/Parameter.h

@@ -43,40 +43,50 @@ This file is part of the QGROUNDCONTROL project
 
 namespace OpalRT
 {
-    class Parameter
-    {
-    public:
+class Parameter
+{
+public:
 //        Parameter(char *simulinkPath = "",
 //                  char *simulinkName = "",
 //                  uint8_t componentID = 0,
 //                  QGCParamID paramID = QGCParamID(),
 //                  unsigned short opalID = 0);
-        Parameter(QString simulinkPath = QString(),
-                  QString simulinkName = QString(),
-                  uint8_t componentID = 0,
-                  QGCParamID paramID = QGCParamID(),
-                  unsigned short opalID = 0);
-        Parameter(const Parameter& other);
-        ~Parameter();
-
-        const QGCParamID& getParamID() const {return *paramID;}
-        void setOpalID(unsigned short opalID) {this->opalID = opalID;}
-        const QString& getSimulinkPath() const {return *simulinkPath;}
-        const QString& getSimulinkName() const {return *simulinkName;}
-        uint8_t getComponentID() const {return componentID;}
-        float getValue();
-        void setValue(float value);
-
-        bool operator==(const Parameter& other) const;
-        operator QString() const;
-
-    protected:
-        QString *simulinkPath;
-        QString *simulinkName;
-        uint8_t componentID;
-        QGCParamID *paramID;
-        unsigned short opalID;
-    };
+    Parameter(QString simulinkPath = QString(),
+              QString simulinkName = QString(),
+              uint8_t componentID = 0,
+              QGCParamID paramID = QGCParamID(),
+              unsigned short opalID = 0);
+    Parameter(const Parameter& other);
+    ~Parameter();
+
+    const QGCParamID& getParamID() const {
+        return *paramID;
+    }
+    void setOpalID(unsigned short opalID) {
+        this->opalID = opalID;
+    }
+    const QString& getSimulinkPath() const {
+        return *simulinkPath;
+    }
+    const QString& getSimulinkName() const {
+        return *simulinkName;
+    }
+    uint8_t getComponentID() const {
+        return componentID;
+    }
+    float getValue();
+    void setValue(float value);
+
+    bool operator==(const Parameter& other) const;
+    operator QString() const;
+
+protected:
+    QString *simulinkPath;
+    QString *simulinkName;
+    uint8_t componentID;
+    QGCParamID *paramID;
+    unsigned short opalID;
+};
 }
 
 #endif // PARAMETER_H

src/comm/ProtocolInterface.h

@@ -42,9 +42,9 @@ This file is part of the PIXHAWK project
  *
  * This class defines the interface for
  * communication packets transported by the LinkManager.
- * 
+ *
  * @see LinkManager.
- * 
+ *
  **/
 class ProtocolInterface : public QThread
 {