uavcan start enforcing code style (#7856)

Tools/astyle/files_to_check_code_style.sh

@@ -15,12 +15,9 @@ exec find src \
     -path src/lib/ecl -prune -o \
     -path src/lib/matrix -prune -o \
     -path src/lib/micro-CDR -prune -o \
-    -path src/modules/micrortps_bridge/micrortps_agent -prune -o \
     -path src/modules/commander -prune -o \
+    -path src/modules/micrortps_bridge/micrortps_agent -prune -o \
     -path src/modules/sdlog2 -prune -o \
     -path src/modules/systemlib/uthash -prune -o \
-    -path src/modules/uavcan -prune -o \
     -path src/modules/uavcan/libuavcan -prune -o \
-    -path src/modules/uavcanesc -o \
-    -path src/modules/uavcannode -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

src/modules/uavcan/actuators/esc.cpp

@@ -168,9 +168,9 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 	(void)_uavcan_pub_raw_cmd.broadcast(msg);
 
 	// Publish actuator outputs
-	if (_actuator_outputs_pub != nullptr)
-	{
+	if (_actuator_outputs_pub != nullptr) {
 		orb_publish(ORB_ID(actuator_outputs), _actuator_outputs_pub, &actuator_outputs);
+
 	} else {
 		int instance;
 		_actuator_outputs_pub = orb_advertise_multi(ORB_ID(actuator_outputs), &actuator_outputs,

src/modules/uavcan/allocator.hpp

@@ -45,14 +45,12 @@
 namespace uavcan_node
 {
 
-struct AllocatorSynchronizer
-{
+struct AllocatorSynchronizer {
 	const ::irqstate_t state = ::enter_critical_section();
 	~AllocatorSynchronizer() { ::leave_critical_section(state); }
 };
 
-struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>
-{
+struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer> {
 	static constexpr unsigned CapacitySoftLimit = 250;
 	static constexpr unsigned CapacityHardLimit = 500;
 
@@ -62,11 +60,10 @@ struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSiz
 
 	~Allocator()
 	{
-	        if (getNumAllocatedBlocks() > 0)
-	        {
-	        	warnx("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
-	        		getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
-	        }
+		if (getNumAllocatedBlocks() > 0) {
+			warnx("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
+			      getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
+		}
 	}
 };
 

src/modules/uavcan/sensors/gnss.cpp

@@ -64,18 +64,21 @@ UavcanGnssBridge::~UavcanGnssBridge()
 int UavcanGnssBridge::init()
 {
 	int res = _pub_fix2.init(uavcan::TransferPriority::MiddleLower);
+
 	if (res < 0) {
 		PX4_WARN("GNSS fix2 pub failed %i", res);
 		return res;
 	}
 
 	res = _sub_fix.start(FixCbBinder(this, &UavcanGnssBridge::gnss_fix_sub_cb));
+
 	if (res < 0) {
 		PX4_WARN("GNSS fix sub failed %i", res);
 		return res;
 	}
 
 	res = _sub_fix2.start(Fix2CbBinder(this, &UavcanGnssBridge::gnss_fix2_sub_cb));
+
 	if (res < 0) {
 		PX4_WARN("GNSS fix2 sub failed %i", res);
 		return res;
@@ -95,7 +98,7 @@ unsigned UavcanGnssBridge::get_num_redundant_channels() const
 void UavcanGnssBridge::print_status() const
 {
 	printf("RX errors: %d, using old Fix: %d, receiver node id: ",
-		_sub_fix.getFailureCount(), int(_old_fix_subscriber_active));
+	       _sub_fix.getFailureCount(), int(_old_fix_subscriber_active));
 
 	if (_receiver_node_id < 0) {
 		printf("N/A\n");
@@ -128,36 +131,36 @@ void UavcanGnssBridge::gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavc
 		_receiver_node_id = -1;
 	}
 
-	float pos_cov[9]{};
-	float vel_cov[9]{};
+	float pos_cov[9] {};
+	float vel_cov[9] {};
 	bool valid_covariances = true;
 
 	switch (msg.covariance.size()) {
 	// Scalar matrix
 	case 1: {
-		const auto x = msg.covariance[0];
+			const auto x = msg.covariance[0];
 
-		pos_cov[0] = x;
-		pos_cov[4] = x;
-		pos_cov[8] = x;
+			pos_cov[0] = x;
+			pos_cov[4] = x;
+			pos_cov[8] = x;
 
-		vel_cov[0] = x;
-		vel_cov[4] = x;
-		vel_cov[8] = x;
-		break;
-	}
+			vel_cov[0] = x;
+			vel_cov[4] = x;
+			vel_cov[8] = x;
+			break;
+		}
 
 	// Diagonal matrix (the most common case)
 	case 6: {
-		pos_cov[0] = msg.covariance[0];
-		pos_cov[4] = msg.covariance[1];
-		pos_cov[8] = msg.covariance[2];
+			pos_cov[0] = msg.covariance[0];
+			pos_cov[4] = msg.covariance[1];
+			pos_cov[8] = msg.covariance[2];
 
-		vel_cov[0] = msg.covariance[3];
-		vel_cov[4] = msg.covariance[4];
-		vel_cov[8] = msg.covariance[5];
-		break;
-	}
+			vel_cov[0] = msg.covariance[3];
+			vel_cov[4] = msg.covariance[4];
+			vel_cov[8] = msg.covariance[5];
+			break;
+		}
 
 	// Upper triangular matrix.
 	// This code has been carefully optimized by hand. We could use unpackSquareMatrix(), but it's slow.
@@ -169,26 +172,27 @@ void UavcanGnssBridge::gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavc
 	//         16 18 19
 	//         17 19 20
 	case 21: {
-		pos_cov[0] = msg.covariance[0];
-		pos_cov[1] = msg.covariance[1];
-		pos_cov[2] = msg.covariance[2];
-		pos_cov[3] = msg.covariance[1];
-		pos_cov[4] = msg.covariance[6];
-		pos_cov[5] = msg.covariance[7];
-		pos_cov[6] = msg.covariance[2];
-		pos_cov[7] = msg.covariance[7];
-		pos_cov[8] = msg.covariance[11];
+			pos_cov[0] = msg.covariance[0];
+			pos_cov[1] = msg.covariance[1];
+			pos_cov[2] = msg.covariance[2];
+			pos_cov[3] = msg.covariance[1];
+			pos_cov[4] = msg.covariance[6];
+			pos_cov[5] = msg.covariance[7];
+			pos_cov[6] = msg.covariance[2];
+			pos_cov[7] = msg.covariance[7];
+			pos_cov[8] = msg.covariance[11];
+
+			vel_cov[0] = msg.covariance[15];
+			vel_cov[1] = msg.covariance[16];
+			vel_cov[2] = msg.covariance[17];
+			vel_cov[3] = msg.covariance[16];
+			vel_cov[4] = msg.covariance[18];
+			vel_cov[5] = msg.covariance[19];
+			vel_cov[6] = msg.covariance[17];
+			vel_cov[7] = msg.covariance[19];
+			vel_cov[8] = msg.covariance[20];
+		}
 
-		vel_cov[0] = msg.covariance[15];
-		vel_cov[1] = msg.covariance[16];
-		vel_cov[2] = msg.covariance[17];
-		vel_cov[3] = msg.covariance[16];
-		vel_cov[4] = msg.covariance[18];
-		vel_cov[5] = msg.covariance[19];
-		vel_cov[6] = msg.covariance[17];
-		vel_cov[7] = msg.covariance[19];
-		vel_cov[8] = msg.covariance[20];
-	}
 	/* FALLTHROUGH */
 
 	// Full matrix 6x6.
@@ -201,33 +205,34 @@ void UavcanGnssBridge::gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavc
 	//          27 28 29
 	//          33 34 35
 	case 36: {
-		pos_cov[0] = msg.covariance[0];
-		pos_cov[1] = msg.covariance[1];
-		pos_cov[2] = msg.covariance[2];
-		pos_cov[3] = msg.covariance[6];
-		pos_cov[4] = msg.covariance[7];
-		pos_cov[5] = msg.covariance[8];
-		pos_cov[6] = msg.covariance[12];
-		pos_cov[7] = msg.covariance[13];
-		pos_cov[8] = msg.covariance[14];
+			pos_cov[0] = msg.covariance[0];
+			pos_cov[1] = msg.covariance[1];
+			pos_cov[2] = msg.covariance[2];
+			pos_cov[3] = msg.covariance[6];
+			pos_cov[4] = msg.covariance[7];
+			pos_cov[5] = msg.covariance[8];
+			pos_cov[6] = msg.covariance[12];
+			pos_cov[7] = msg.covariance[13];
+			pos_cov[8] = msg.covariance[14];
+
+			vel_cov[0] = msg.covariance[21];
+			vel_cov[1] = msg.covariance[22];
+			vel_cov[2] = msg.covariance[23];
+			vel_cov[3] = msg.covariance[27];
+			vel_cov[4] = msg.covariance[28];
+			vel_cov[5] = msg.covariance[29];
+			vel_cov[6] = msg.covariance[33];
+			vel_cov[7] = msg.covariance[34];
+			vel_cov[8] = msg.covariance[35];
+		}
 
-		vel_cov[0] = msg.covariance[21];
-		vel_cov[1] = msg.covariance[22];
-		vel_cov[2] = msg.covariance[23];
-		vel_cov[3] = msg.covariance[27];
-		vel_cov[4] = msg.covariance[28];
-		vel_cov[5] = msg.covariance[29];
-		vel_cov[6] = msg.covariance[33];
-		vel_cov[7] = msg.covariance[34];
-		vel_cov[8] = msg.covariance[35];
-	}
 	/* FALLTHROUGH */
 
 	// Either empty or invalid sized, interpret as zero matrix
 	default: {
-		valid_covariances = false;
-		break;	// Nothing to do
-	}
+			valid_covariances = false;
+			break;	// Nothing to do
+		}
 	}
 
 	process_fixx(msg, pos_cov, vel_cov, valid_covariances, valid_covariances);
@@ -235,10 +240,10 @@ void UavcanGnssBridge::gnss_fix2_sub_cb(const uavcan::ReceivedDataStructure<uavc
 
 template <typename FixType>
 void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType> &msg,
-                                    const float (&pos_cov)[9],
-                                    const float (&vel_cov)[9],
-                                    const bool valid_pos_cov,
-                                    const bool valid_vel_cov)
+				    const float (&pos_cov)[9],
+				    const float (&vel_cov)[9],
+				    const bool valid_pos_cov,
+				    const bool valid_vel_cov)
 {
 	// This bridge does not support redundant GNSS receivers yet.
 	if (_receiver_node_id < 0) {
@@ -314,8 +319,8 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 	report.vel_e_m_s = msg.ned_velocity[1];
 	report.vel_d_m_s = msg.ned_velocity[2];
 	report.vel_m_s = sqrtf(report.vel_n_m_s * report.vel_n_m_s +
-	                       report.vel_e_m_s * report.vel_e_m_s +
-	                       report.vel_d_m_s * report.vel_d_m_s);
+			       report.vel_e_m_s * report.vel_e_m_s +
+			       report.vel_d_m_s * report.vel_d_m_s);
 	report.cog_rad = atan2f(report.vel_e_m_s, report.vel_n_m_s);
 	report.vel_ned_valid = true;
 
@@ -325,27 +330,29 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 
 	switch (msg.gnss_time_standard) {
 	case FixType::GNSS_TIME_STANDARD_UTC: {
-		report.time_utc_usec = gnss_ts_usec;
-		break;
-	}
+			report.time_utc_usec = gnss_ts_usec;
+			break;
+		}
 
 	case FixType::GNSS_TIME_STANDARD_GPS: {
-		if (msg.num_leap_seconds > 0) {
-			report.time_utc_usec = gnss_ts_usec - msg.num_leap_seconds + 9;
+			if (msg.num_leap_seconds > 0) {
+				report.time_utc_usec = gnss_ts_usec - msg.num_leap_seconds + 9;
+			}
+
+			break;
 		}
-		break;
-	}
 
 	case FixType::GNSS_TIME_STANDARD_TAI: {
-		if (msg.num_leap_seconds > 0) {
-			report.time_utc_usec = gnss_ts_usec - msg.num_leap_seconds - 10;
+			if (msg.num_leap_seconds > 0) {
+				report.time_utc_usec = gnss_ts_usec - msg.num_leap_seconds - 10;
+			}
+
+			break;
 		}
-		break;
-	}
 
 	default: {
-		break;
-	}
+			break;
+		}
 	}
 
 //TODO px4_clock_settime does nothing on the Snapdragon platform
@@ -375,7 +382,7 @@ void UavcanGnssBridge::process_fixx(const uavcan::ReceivedDataStructure<FixType>
 	// Publish to a multi-topic
 	int32_t gps_orb_instance;
 	orb_publish_auto(ORB_ID(vehicle_gps_position), &_report_pub, &report, &gps_orb_instance,
-				 ORB_PRIO_HIGH);
+			 ORB_PRIO_HIGH);
 
 	// Doing less time critical stuff here
 	if (_orb_to_uavcan_pub_timer.isRunning()) {
@@ -389,16 +396,19 @@ void UavcanGnssBridge::broadcast_from_orb(const uavcan::TimerEvent &)
 	if (_orb_sub_gnss < 0) {
 		// ORB subscription stops working if this is relocated into init()
 		_orb_sub_gnss = orb_subscribe(ORB_ID(vehicle_gps_position));
+
 		if (_orb_sub_gnss < 0) {
 			PX4_WARN("GNSS ORB sub errno %d", errno);
 			return;
 		}
+
 		PX4_WARN("GNSS ORB fd %d", _orb_sub_gnss);
 	}
 
 	{
 		bool updated = false;
 		const int res = orb_check(_orb_sub_gnss, &updated);
+
 		if (res < 0) {
 			PX4_WARN("GNSS ORB check err %d %d", res, errno);
 			return;
@@ -411,6 +421,7 @@ void UavcanGnssBridge::broadcast_from_orb(const uavcan::TimerEvent &)
 
 	auto orb_msg = ::vehicle_gps_position_s();
 	const int res = orb_copy(ORB_ID(vehicle_gps_position), _orb_sub_gnss, &orb_msg);
+
 	if (res < 0) {
 		PX4_WARN("GNSS ORB read errno %d", errno);
 		return;

src/modules/uavcan/sensors/gnss.hpp

@@ -80,10 +80,10 @@ private:
 
 	template <typename FixType>
 	void process_fixx(const uavcan::ReceivedDataStructure<FixType> &msg,
-	                  const float (&pos_cov)[9],
-	                  const float (&vel_cov)[9],
-	                  const bool valid_pos_cov,
-	                  const bool valid_vel_cov);
+			  const float (&pos_cov)[9],
+			  const float (&vel_cov)[9],
+			  const bool valid_pos_cov,
+			  const bool valid_vel_cov);
 
 	void broadcast_from_orb(const uavcan::TimerEvent &);
 

src/modules/uavcan/sensors/mag.cpp

@@ -142,7 +142,8 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
 	}
 }
 
-void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength>
+void UavcanMagnetometerBridge::mag_sub_cb(const
+		uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength>
 		&msg)
 {
 	lock();

src/modules/uavcan/sensors/sensor_bridge.cpp

@@ -121,6 +121,7 @@ void UavcanCDevSensorBridgeBase::publish(const int node_id, const void *report)
 		channel->class_instance = class_instance;
 
 		channel->orb_advert = orb_advertise_multi(_orb_topic, report, &channel->orb_instance, ORB_PRIO_VERY_HIGH);
+
 		if (channel->orb_advert == nullptr) {
 			DEVICE_LOG("ADVERTISE FAILED");
 			(void)unregister_class_devname(_class_devname, class_instance);

src/modules/uavcan/uavcan_main.cpp

@@ -104,11 +104,12 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 		std::abort();
 	}
 
-	res = px4_sem_init(&_server_command_sem, 0 , 0);
+	res = px4_sem_init(&_server_command_sem, 0, 0);
 
 	if (res < 0) {
 		std::abort();
 	}
+
 	/* _server_command_sem use case is a signal */
 	px4_sem_setprotocol(&_server_command_sem, SEM_PRIO_NONE);
 }
@@ -541,7 +542,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
 	 * Note that we instantiate and initialize CanInitHelper only once, because the STM32's bxCAN driver
 	 * shipped with libuavcan does not support deinitialization.
 	 */
-	static CanInitHelper* can = nullptr;
+	static CanInitHelper *can = nullptr;
 
 	if (can == nullptr) {
 
@@ -1120,22 +1121,24 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 		break;
 
 	case UAVCAN_IOCG_NODEID_INPROGRESS: {
-		UavcanServers   *_servers = UavcanServers::instance();
+			UavcanServers   *_servers = UavcanServers::instance();
 
-		if (_servers == nullptr) {
-			// status unavailable
-			ret = -EINVAL;
-			break;
-		} else if (_servers->guessIfAllDynamicNodesAreAllocated()) {
-			// node discovery complete
-			ret = -ETIME;
-			break;
-		} else {
-			// node discovery in progress
-			ret = OK;
-			break;
+			if (_servers == nullptr) {
+				// status unavailable
+				ret = -EINVAL;
+				break;
+
+			} else if (_servers->guessIfAllDynamicNodesAreAllocated()) {
+				// node discovery complete
+				ret = -ETIME;
+				break;
+
+			} else {
+				// node discovery in progress
+				ret = OK;
+				break;
+			}
 		}
-	}
 
 	default:
 		ret = -ENOTTY;
@@ -1212,7 +1215,7 @@ UavcanNode::print_info()
 
 		for (uint8_t i = 0; i < _outputs.noutputs; i++) {
 			const float temp_celsius = (esc.esc[i].esc_temperature > 0) ?
-				(esc.esc[i].esc_temperature - 273.15F) : 0.0F;
+						   (esc.esc[i].esc_temperature - 273.15F) : 0.0F;
 
 			printf("%d\t",    esc.esc[i].esc_address);
 			printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
@@ -1240,10 +1243,10 @@ UavcanNode::print_info()
 	// Printing all nodes that are online
 	std::printf("Online nodes (Node ID, Health, Mode):\n");
 	_node_status_monitor.forEachNode([](uavcan::NodeID nid, uavcan::NodeStatusMonitor::NodeStatus ns) {
-		static constexpr const char* HEALTH[] = {
+		static constexpr const char *HEALTH[] = {
 			"OK", "WARN", "ERR", "CRIT"
 		};
-		static constexpr const char* MODES[] = {
+		static constexpr const char *MODES[] = {
 			"OPERAT", "INIT", "MAINT", "SW_UPD", "?", "?", "?", "OFFLN"
 		};
 		std::printf("\t% 3d %-10s %-10s\n", int(nid.get()), HEALTH[ns.health], MODES[ns.mode]);
@@ -1427,12 +1430,15 @@ int uavcan_main(int argc, char *argv[])
 			if (hardpoint_id >= 0 && hardpoint_id < 256 &&
 			    command >= 0 && command < 65536) {
 				inst->hardpoint_controller_set((uint8_t) hardpoint_id, (uint16_t) command);
+
 			} else {
 				errx(1, "Invalid argument");
 			}
+
 		} else {
 			errx(1, "Invalid hardpoint command");
 		}
+
 		::exit(0);
 	}
 
@@ -1444,10 +1450,12 @@ int uavcan_main(int argc, char *argv[])
 			/* Let's recover any memory we can */
 
 			inst->shrink();
+
 			if (rv < 0) {
 				warnx("Firmware Server Failed to Stop %d", rv);
 				::exit(rv);
 			}
+
 			::exit(0);
 
 		} else {

src/modules/uavcan/uavcan_main.hpp

@@ -104,7 +104,7 @@ class UavcanNode : public device::CDev
 
 public:
 	typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
-	enum eServerAction {None, Start, Stop, CheckFW , Busy};
+	enum eServerAction {None, Start, Stop, CheckFW, Busy};
 
 	UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock);
 

src/modules/uavcan/uavcan_servers.hpp

@@ -166,7 +166,8 @@ private:
 	typedef uavcan::MethodBinder<UavcanServers *,
 		void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &)> GetSetCallback;
 	typedef uavcan::MethodBinder<UavcanServers *,
-		void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &)> ExecuteOpcodeCallback;
+		void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &)>
+		ExecuteOpcodeCallback;
 	typedef uavcan::MethodBinder<UavcanServers *,
 		void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::RestartNode> &)> RestartNodeCallback;
 	void cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result);
@@ -198,7 +199,8 @@ private:
 	uint8_t _esc_count = 0;
 
 	typedef uavcan::MethodBinder<UavcanServers *,
-		void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &)> EnumerationBeginCallback;
+		void (UavcanServers::*)(const uavcan::ServiceCallResult<uavcan::protocol::enumeration::Begin> &)>
+		EnumerationBeginCallback;
 	typedef uavcan::MethodBinder<UavcanServers *,
 		void (UavcanServers::*)(const uavcan::ReceivedDataStructure<uavcan::protocol::enumeration::Indication>&)>
 		EnumerationIndicationCallback;
@@ -208,11 +210,12 @@ private:
 	void cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::protocol::param::ExecuteOpcode> &result);
 
 	uavcan::Publisher<uavcan::equipment::indication::BeepCommand> _beep_pub;
-	uavcan::Subscriber<uavcan::protocol::enumeration::Indication, EnumerationIndicationCallback> _enumeration_indication_sub;
+	uavcan::Subscriber<uavcan::protocol::enumeration::Indication, EnumerationIndicationCallback>
+	_enumeration_indication_sub;
 	uavcan::ServiceClient<uavcan::protocol::enumeration::Begin, EnumerationBeginCallback> _enumeration_client;
 	uavcan::ServiceClient<uavcan::protocol::param::GetSet, GetSetCallback> _enumeration_getset_client;
 	uavcan::ServiceClient<uavcan::protocol::param::ExecuteOpcode, ExecuteOpcodeCallback> _enumeration_save_client;
 
-	void unpackFwFromROMFS(const char* sd_path, const char* romfs_path);
-	int copyFw(const char* dst, const char* src);
+	void unpackFwFromROMFS(const char *sd_path, const char *romfs_path);
+	int copyFw(const char *dst, const char *src);
 };

src/modules/uavcan/uavcan_virtual_can_driver.hpp

@@ -116,8 +116,7 @@ public:
 
 	~Queue()
 	{
-		while (!isEmpty())
-		{
+		while (!isEmpty()) {
 			pop();
 		}
 	}
@@ -140,7 +139,7 @@ public:
 		}
 
 		// Constructing the new item
-		Item *const item = new(ptr) Item(args...);
+		Item *const item = new (ptr) Item(args...);
 		assert(item != nullptr);
 
 		// Inserting the new item at the end of the list
@@ -353,9 +352,11 @@ class VirtualCanDriver : public uavcan::ICanDriver,
 		int init()
 		{
 			int rv = px4_sem_init(&sem, 0, 0);
+
 			if (rv == 0) {
 				px4_sem_setprotocol(&sem, SEM_PRIO_NONE);
 			}
+
 			return rv;
 		}
 
@@ -484,9 +485,9 @@ class VirtualCanDriver : public uavcan::ICanDriver,
 
 public:
 	VirtualCanDriver(unsigned arg_num_ifaces,
-		         uavcan::ISystemClock &system_clock,
-		         uavcan::IPoolAllocator& allocator,
-		         unsigned virtual_iface_block_allocation_quota) :
+			 uavcan::ISystemClock &system_clock,
+			 uavcan::IPoolAllocator &allocator,
+			 unsigned virtual_iface_block_allocation_quota) :
 		num_ifaces_(arg_num_ifaces),
 		clock_(system_clock)
 	{
@@ -498,8 +499,8 @@ public:
 		const unsigned quota_per_queue = virtual_iface_block_allocation_quota;             // 2x overcommit
 
 		for (unsigned i = 0; i < num_ifaces_; i++) {
-			ifaces_[i].construct<uavcan::IPoolAllocator&, uavcan::ISystemClock&, pthread_mutex_t&,
-					     unsigned>(allocator, clock_, driver_mutex_, quota_per_queue);
+			ifaces_[i].construct<uavcan::IPoolAllocator &, uavcan::ISystemClock &, pthread_mutex_t &,
+				unsigned>(allocator, clock_, driver_mutex_, quota_per_queue);
 		}
 	}