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hdiethelmhdiethelm
committed
Cleanup: Clang format
1 parent 0f39be6 commit 1cf84a0

6 files changed

Lines changed: 791 additions & 586 deletions

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‎src/rtapi/uspace_posix.cc‎

Lines changed: 75 additions & 56 deletions
Original file line numberDiff line numberDiff line change
@@ -26,21 +26,19 @@
2626
#include <sys/io.h>
2727
#endif
2828

29-
namespace
30-
{
31-
struct PosixTask : rtapi_task
32-
{
33-
PosixTask() : rtapi_task{}, thr{}
34-
{}
35-
36-
pthread_t thr; /* thread's context */
29+
namespace {
30+
struct PosixTask : rtapi_task {
31+
PosixTask() : rtapi_task{}, thr{} {
32+
}
33+
34+
pthread_t thr; /* thread's context */
3735
};
3836

39-
struct PosixApp : RtapiApp
40-
{
41-
PosixApp(int policy = SCHED_FIFO) : RtapiApp(policy), do_thread_lock(policy != SCHED_FIFO) {
37+
struct PosixApp : RtapiApp {
38+
PosixApp(int policy = SCHED_FIFO)
39+
: RtapiApp(policy), do_thread_lock(policy != SCHED_FIFO) {
4240
pthread_once(&key_once, init_key);
43-
if(do_thread_lock) {
41+
if (do_thread_lock) {
4442
pthread_once(&lock_once, init_lock);
4543
}
4644
}
@@ -51,7 +49,8 @@ struct PosixApp : RtapiApp
5149

5250
int task_delete(int id) {
5351
auto task = ::rtapi_get_task<PosixTask>(id);
54-
if(!task) return -EINVAL;
52+
if (!task)
53+
return -EINVAL;
5554

5655
pthread_cancel(task->thr);
5756
pthread_join(task->thr, 0);
@@ -63,7 +62,8 @@ struct PosixApp : RtapiApp
6362

6463
int task_start(int task_id, unsigned long period_nsec) {
6564
auto task = ::rtapi_get_task<PosixTask>(task_id);
66-
if(!task) return -EINVAL;
65+
if (!task)
66+
return -EINVAL;
6767

6868
task->period = period_nsec;
6969
struct sched_param param;
@@ -74,55 +74,59 @@ struct PosixApp : RtapiApp
7474
task->pll_correction_limit = period_nsec / 100;
7575
task->pll_correction = 0;
7676

77-
int nprocs = sysconf( _SC_NPROCESSORS_ONLN );
77+
int nprocs = sysconf(_SC_NPROCESSORS_ONLN);
7878

7979
pthread_attr_t attr;
8080
int ret;
81-
if((ret = pthread_attr_init(&attr)) != 0)
81+
if ((ret = pthread_attr_init(&attr)) != 0)
8282
return -ret;
83-
if((ret = pthread_attr_setstacksize(&attr, task->stacksize)) != 0)
83+
if ((ret = pthread_attr_setstacksize(&attr, task->stacksize)) != 0)
8484
return -ret;
85-
if((ret = pthread_attr_setschedpolicy(&attr, policy)) != 0)
85+
if ((ret = pthread_attr_setschedpolicy(&attr, policy)) != 0)
8686
return -ret;
87-
if((ret = pthread_attr_setschedparam(&attr, &param)) != 0)
87+
if ((ret = pthread_attr_setschedparam(&attr, &param)) != 0)
8888
return -ret;
89-
if((ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED)) != 0)
89+
if ((ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED)) != 0)
9090
return -ret;
91-
if(nprocs > 1){
91+
if (nprocs > 1) {
9292
const static int rt_cpu_number = find_rt_cpu_number();
93-
rtapi_print_msg(RTAPI_MSG_INFO, "rt_cpu_number = %i\n", rt_cpu_number);
94-
if(rt_cpu_number != -1) {
95-
#ifdef __FreeBSD__
93+
rtapi_print_msg(
94+
RTAPI_MSG_INFO, "rt_cpu_number = %i\n", rt_cpu_number
95+
);
96+
if (rt_cpu_number != -1) {
97+
#ifdef __FreeBSD__
9698
cpuset_t cpuset;
97-
#else
99+
#else
98100
cpu_set_t cpuset;
99-
#endif
101+
#endif
100102
CPU_ZERO(&cpuset);
101103
CPU_SET(rt_cpu_number, &cpuset);
102-
if((ret = pthread_attr_setaffinity_np(&attr, sizeof(cpuset), &cpuset)) != 0)
104+
if ((ret = pthread_attr_setaffinity_np(&attr, sizeof(cpuset), &cpuset)) != 0)
103105
return -ret;
104106
}
105107
}
106-
if(do_thread_lock)
108+
if (do_thread_lock)
107109
pthread_mutex_lock(&thread_lock);
108-
if((ret = pthread_create(&task->thr, &attr, &wrapper, reinterpret_cast<void*>(task))) != 0)
110+
if ((ret = pthread_create(&task->thr, &attr, &wrapper, reinterpret_cast<void *>(task))) != 0)
109111
return -ret;
110112

111113
return 0;
112114
}
113115

114116
static void *wrapper(void *arg) {
115-
auto task = reinterpret_cast<PosixTask*>(arg);
117+
auto task = reinterpret_cast<PosixTask *>(arg);
116118

117119
pthread_setspecific(key, arg);
118120
set_namef("rtapi_app:T#%d", task->id);
119121

120122
struct timespec now;
121123
clock_gettime(CLOCK_MONOTONIC, &now);
122-
rtapi_timespec_advance(task->nextstart, now, task->period + task->pll_correction);
124+
rtapi_timespec_advance(
125+
task->nextstart, now, task->period + task->pll_correction
126+
);
123127

124128
/* call the task function with the task argument */
125-
(task->taskcode) (task->arg);
129+
(task->taskcode)(task->arg);
126130

127131
rtapi_print("ERROR: reached end of wrapper for task %d\n", task->id);
128132
return NULL;
@@ -139,39 +143,50 @@ struct PosixApp : RtapiApp
139143
}
140144

141145
long long task_pll_get_reference(void) {
142-
struct rtapi_task *task = reinterpret_cast<rtapi_task*>(pthread_getspecific(key));
143-
if(!task) return 0;
146+
struct rtapi_task *task =
147+
reinterpret_cast<rtapi_task *>(pthread_getspecific(key));
148+
if (!task)
149+
return 0;
144150
return task->nextstart.tv_sec * 1000000000LL + task->nextstart.tv_nsec;
145151
}
146152

147153
int task_pll_set_correction(long value) {
148-
struct rtapi_task *task = reinterpret_cast<rtapi_task*>(pthread_getspecific(key));
149-
if(!task) return -EINVAL;
150-
if (value > task->pll_correction_limit) value = task->pll_correction_limit;
151-
if (value < -(task->pll_correction_limit)) value = -(task->pll_correction_limit);
154+
struct rtapi_task *task =
155+
reinterpret_cast<rtapi_task *>(pthread_getspecific(key));
156+
if (!task)
157+
return -EINVAL;
158+
if (value > task->pll_correction_limit)
159+
value = task->pll_correction_limit;
160+
if (value < -(task->pll_correction_limit))
161+
value = -(task->pll_correction_limit);
152162
task->pll_correction = value;
153163
return 0;
154164
}
155165

156166
void wait() {
157-
if(do_thread_lock)
167+
if (do_thread_lock)
158168
pthread_mutex_unlock(&thread_lock);
159169
pthread_testcancel();
160-
struct rtapi_task *task = reinterpret_cast<rtapi_task*>(pthread_getspecific(key));
161-
rtapi_timespec_advance(task->nextstart, task->nextstart, task->period + task->pll_correction);
170+
struct rtapi_task *task =
171+
reinterpret_cast<rtapi_task *>(pthread_getspecific(key));
172+
rtapi_timespec_advance(
173+
task->nextstart,
174+
task->nextstart,
175+
task->period + task->pll_correction
176+
);
162177
struct timespec now;
163178
clock_gettime(CLOCK_MONOTONIC, &now);
164-
if(rtapi_timespec_less(task->nextstart, now))
165-
{
166-
if(policy == SCHED_FIFO)
179+
if (rtapi_timespec_less(task->nextstart, now)) {
180+
if (policy == SCHED_FIFO)
167181
unexpected_realtime_delay(task);
182+
} else {
183+
int res = clock_nanosleep(
184+
CLOCK_MONOTONIC, TIMER_ABSTIME, &task->nextstart, nullptr
185+
);
186+
if (res < 0)
187+
perror("clock_nanosleep");
168188
}
169-
else
170-
{
171-
int res = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &task->nextstart, nullptr);
172-
if(res < 0) perror("clock_nanosleep");
173-
}
174-
if(do_thread_lock)
189+
if (do_thread_lock)
175190
pthread_mutex_lock(&thread_lock);
176191
}
177192

@@ -194,13 +209,17 @@ struct PosixApp : RtapiApp
194209
}
195210

196211
int run_threads(int fd, int (*callback)(int fd)) {
197-
while(callback(fd)) { /* nothing */ }
212+
while (callback(fd)) {
213+
/* nothing */
214+
}
198215
return 0;
199216
}
200217

201218
int task_self() {
202-
struct rtapi_task *task = reinterpret_cast<rtapi_task*>(pthread_getspecific(key));
203-
if(!task) return -EINVAL;
219+
struct rtapi_task *task =
220+
reinterpret_cast<rtapi_task *>(pthread_getspecific(key));
221+
if (!task)
222+
return -EINVAL;
204223
return task->id;
205224
}
206225

@@ -235,14 +254,14 @@ pthread_once_t PosixApp::lock_once = PTHREAD_ONCE_INIT;
235254
pthread_key_t PosixApp::key;
236255
pthread_mutex_t PosixApp::thread_lock;
237256

238-
}
257+
} // namespace
239258

240259
extern "C" RtapiApp *make(int policy);
241260

242261
RtapiApp *make(int policy) {
243-
if(policy == SCHED_OTHER){
262+
if (policy == SCHED_OTHER) {
244263
rtapi_print_msg(RTAPI_MSG_ERR, "Note: Using POSIX non-realtime\n");
245-
}else{
264+
} else {
246265
rtapi_print_msg(RTAPI_MSG_ERR, "Note: Using POSIX realtime\n");
247266
}
248267
return new PosixApp(policy);

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