优化代码格式；添加hal内硬件驱动日志打印

cal/rpc_cjson.c

@@ -1,7 +1,6 @@
 #include "rpc_cjson.h"
 
 #include "log.h"
-#include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 

cal/tcp_server.c

@@ -2,7 +2,6 @@
 
 #include "log.h"
 #include <fcntl.h>
-#include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>

cal/uvm_cal.c

@@ -1,7 +1,6 @@
 #include "uvm_cal.h"
 
 #include "log.h"
-#include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 
@@ -59,7 +58,10 @@ static char *on_recv(const char *data, int len, void *arg)
     /* build response */
     char *resp = calloc(jresp_len + HTTP_HEADER_BUF_SIZE, sizeof(char));
     sprintf(resp,
-            "HTTP/1.1 200 OK\r\nContent-Type: application/json; charset=UTF-8\r\nAccept: application/json\r\nContent-Length: %d\r\n\r\n%s",
+            "HTTP/1.1 200 OK\r\n"
+            "Content-Type: application/json; charset=UTF-8\r\n"
+            "Accept: application/json\r\n"
+            "Content-Length: %d\r\n\r\n%s",
             jresp_len, jresp);
 
     /* end up */

cfg/cfg_dev_ctl.c

@@ -1,10 +1,9 @@
-#include <stdio.h>
-#include <stdlib.h>
+#include "cfg_dev_ctl.h"
 
 #include "cJSON.h"
 #include "s2j.h"
-
-#include "cfg_dev_ctl.h"
+#include <stdio.h>
+#include <stdlib.h>
 
 static const dev_ctl_params default_params = {
     .arm_attr = {

cfg/cfg_others.c

@@ -1,10 +1,9 @@
-#include <stdio.h>
-#include <stdlib.h>
+#include "cfg_others.h"
 
 #include "cJSON.h"
 #include "s2j.h"
-
-#include "cfg_others.h"
+#include <stdio.h>
+#include <stdlib.h>
 
 static others_params default_params = {
     .server_config = {

cfg/cfg_propeller.c

@@ -1,10 +1,9 @@
-#include <stdio.h>
-#include <stdlib.h>
+#include "cfg_propeller.h"
 
 #include "cJSON.h"
 #include "s2j.h"
-
-#include "cfg_propeller.h"
+#include <stdio.h>
+#include <stdlib.h>
 
 static const propeller_params default_params = {
     .pwm_freq_offset = 0,

cfg/cfg_rocket_ratio.c

@@ -1,10 +1,9 @@
-#include <stdio.h>
-#include <stdlib.h>
+#include "cfg_rocket_ratio.h"
 
 #include "cJSON.h"
 #include "s2j.h"
-
-#include "cfg_rocket_ratio.h"
+#include <stdio.h>
+#include <stdlib.h>
 
 static const rocket_ratio_params default_params = {
     .x = {

cfg/uvm_cfg.c

@@ -7,34 +7,41 @@
 #include <unistd.h>
 #include <string.h>
 
-static int uvm_cfg_initialize_value(config_data data_s)
+static int uvm_cfg_initialize_value(config_data *data_s)
 {
     uvm_cfg_delete(data_s);
-    data_s.dev_ctl = dev_ctl_create_with_init_val();
-    data_s.propeller = propeller_create_with_init_val();
-    data_s.rocket_ratio = rocket_ratio_create_with_init_val();
-    data_s.others = others_create_with_init_val();
 
-    if (data_s.dev_ctl && data_s.propeller && data_s.rocket_ratio && data_s.others)
+    data_s->dev_ctl = dev_ctl_create_with_init_val();
+    data_s->propeller = propeller_create_with_init_val();
+    data_s->rocket_ratio = rocket_ratio_create_with_init_val();
+    data_s->others = others_create_with_init_val();
+
+    if (data_s->dev_ctl && data_s->propeller && data_s->rocket_ratio && data_s->others)
         return 0;
     return -1;
 }
 
-void uvm_cfg_delete(config_data data_s)
+void uvm_cfg_delete(config_data *data_s)
 {
-    if (data_s.dev_ctl)
-        free(data_s.dev_ctl);
-    if (data_s.propeller)
-        free(data_s.propeller);
-    if (data_s.rocket_ratio)
-        free(data_s.rocket_ratio);
-    if (data_s.others)
-        free(data_s.others);
-    bzero(&data_s, sizeof(config_data));
+    if (!data_s)
+        return;
+
+    if (data_s->dev_ctl)
+        free(data_s->dev_ctl);
+    if (data_s->propeller)
+        free(data_s->propeller);
+    if (data_s->rocket_ratio)
+        free(data_s->rocket_ratio);
+    if (data_s->others)
+        free(data_s->others);
+    bzero(data_s, sizeof(config_data));
 }
 
-int uvm_cfg_read (config_data data_s)
+int uvm_cfg_read (config_data *data_s)
 {
+    if (!data_s)
+        return -1;
+
     uvm_cfg_delete(data_s);
 
     char *data = uvm_intf_read_from_file();
@@ -49,14 +56,14 @@ int uvm_cfg_read (config_data data_s)
         return -2;
     }
 
-    data_s.others = others_j2s(cJSON_GetObjectItem(json, "others_params"));
-    data_s.dev_ctl = dev_ctl_j2s(cJSON_GetObjectItem(json, "dev_ctl_params"));
-    data_s.propeller = propeller_j2s(cJSON_GetObjectItem(json, "propeller_params"));
-    data_s.rocket_ratio = rocket_ratio_j2s(cJSON_GetObjectItem(json, "rocket_ratio_params"));
+    data_s->others = others_j2s(cJSON_GetObjectItem(json, "others_params"));
+    data_s->dev_ctl = dev_ctl_j2s(cJSON_GetObjectItem(json, "dev_ctl_params"));
+    data_s->propeller = propeller_j2s(cJSON_GetObjectItem(json, "propeller_params"));
+    data_s->rocket_ratio = rocket_ratio_j2s(cJSON_GetObjectItem(json, "rocket_ratio_params"));
 
     cJSON_Delete(json);
 
-    if (data_s.dev_ctl && data_s.propeller && data_s.rocket_ratio && data_s.others)
+    if (data_s->dev_ctl && data_s->propeller && data_s->rocket_ratio && data_s->others)
     {
         log_info("Config file read succeed.");
         return 0;
@@ -66,40 +73,43 @@ int uvm_cfg_read (config_data data_s)
 
 
 
-int uvm_cfg_write(config_data data_s)
+int uvm_cfg_write(config_data *data_s)
 {
+    if (!data_s)
+        return -1;
+
     void *temp = NULL;
     cJSON *json = cJSON_CreateObject();
 
-    if (data_s.others)
-        cJSON_AddItemToObject(json, "others_params", others_s2j(data_s.others));
+    if (data_s->others)
+        cJSON_AddItemToObject(json, "others_params", others_s2j(data_s->others));
     else
     {
         temp = others_create_with_init_val();
         cJSON_AddItemToObject(json, "others_params", others_s2j(temp));
         free(temp);
     }
 
-    if (data_s.dev_ctl)
-        cJSON_AddItemToObject(json, "dev_ctl_params", dev_ctl_s2j(data_s.dev_ctl));
+    if (data_s->dev_ctl)
+        cJSON_AddItemToObject(json, "dev_ctl_params", dev_ctl_s2j(data_s->dev_ctl));
     else
     {
         temp = dev_ctl_create_with_init_val();
         cJSON_AddItemToObject(json, "dev_ctl_params", others_s2j(temp));
         free(temp);
     }
 
-    if (data_s.propeller)
-        cJSON_AddItemToObject(json, "propeller_params", propeller_s2j(data_s.propeller));
+    if (data_s->propeller)
+        cJSON_AddItemToObject(json, "propeller_params", propeller_s2j(data_s->propeller));
     else
     {
         temp = propeller_create_with_init_val();
         cJSON_AddItemToObject(json, "propeller_params", others_s2j(temp));
         free(temp);
     }
 
-    if (data_s.rocket_ratio)
-        cJSON_AddItemToObject(json, "rocket_ratio_params", rocket_ratio_s2j(data_s.rocket_ratio));
+    if (data_s->rocket_ratio)
+        cJSON_AddItemToObject(json, "rocket_ratio_params", rocket_ratio_s2j(data_s->rocket_ratio));
     else
     {
         temp = rocket_ratio_create_with_init_val();
@@ -116,8 +126,13 @@ int uvm_cfg_write(config_data data_s)
     return ret;
 }
 
-int uvm_cfg_init(config_data data_s)
+int uvm_cfg_init(config_data *data_s)
 {
+    if (!data_s)
+        return -1;
+
+    bzero(data_s, sizeof(config_data));
+
     if (0 == access(CONFIG_FILE_PATH, F_OK)) // 0:存在
     {
         return uvm_cfg_read(data_s);

cfg/uvm_cfg.h

@@ -15,10 +15,10 @@ typedef struct
 } config_data;
 
 /* ess */
-void        uvm_cfg_delete(config_data data_s);
-int uvm_cfg_init  (config_data data_s);
-int uvm_cfg_read  (config_data data_s);
-int         uvm_cfg_write (config_data data_s);
+void    uvm_cfg_delete(config_data *data_s);
+int     uvm_cfg_init  (config_data *data_s);
+int     uvm_cfg_read  (config_data *data_s);
+int     uvm_cfg_write (config_data *data_s);
 
 /* add */
 // int uvm_cfg_read_cjson (void *cjson);

hal/interface_pca9685.c

@@ -196,6 +196,6 @@ void pca9685_interface_debug_print(const char *const fmt, ...)
 {
     va_list temp_va;
 	va_start(temp_va, fmt);
-	printf(fmt, temp_va);
+	log_error(fmt, temp_va);
 	va_end(temp_va);
 }

hal/utils/gpio.c

@@ -1,3 +1,4 @@
+#include "log.h"
 #include <errno.h>
 #include <stdio.h>
 #include <string.h>
@@ -18,7 +19,7 @@ int uvm_gpio_export(uint32_t gpio)
     if (ret < 0)
         return ret;
     if (!access(file, F_OK)) {
-        printf("warning: gpio %d, file (%s) has exist\n", gpio, file);
+        log_warn("gpio %d, file (%s) has exist", gpio, file);
         return 0;
     }
     return write_sysfs_int("export", GPIO_SYSFS_PATH, gpio);

hal/utils/iic.c

@@ -1,3 +1,4 @@
+#include "log.h"
 #include <stdio.h>
 #include <fcntl.h>
 #include <errno.h>
@@ -28,13 +29,13 @@ int uvm_i2c_init(char *dev)
     int fd = open(dev, O_RDWR);
     if (fd < 0)
     {
-        printf("IIC: Fail to open %s \r\n", dev);
+        log_error("IIC: Fail to open %s", dev);
         return -1;
     }
 
     if (ioctl(fd, I2C_TENBIT, 0) < 0) // 7-bit addr
     {
-        printf("IIC: Unable to set address type: %s\n", strerror(errno));
+        log_error("IIC: Unable to set address type: %s", strerror(errno));
         close(fd);
         return -2;
     }
@@ -52,7 +53,7 @@ int uvm_i2c_write(int fd, uint8_t addr, uint8_t reg, uint8_t len, uint8_t *val)
 {
     if (ioctl(fd, I2C_SLAVE, (int)addr) < 0)
     {
-        printf("IIC: Unable to select I2C device: %s\n", strerror(errno));
+        log_error("IIC: Unable to select I2C device: %s\n", strerror(errno));
         close(fd);
         return -1;
     }
@@ -69,7 +70,7 @@ int uvm_i2c_read(int fd, uint8_t addr, uint8_t reg, uint8_t len, uint8_t *val)
 {
     if (ioctl(fd, I2C_SLAVE, addr) < 0)
     {
-        printf("IIC: Unable to select I2C device: %s\n", strerror(errno));
+        log_error("IIC: Unable to select I2C device: %s", strerror(errno));
         return -1;
     }
 
@@ -87,7 +88,7 @@ int uvm_i2c_i2cdetect(int fd, uint8_t addr)
 {
     if (ioctl(fd, I2C_SLAVE, addr) < 0)
     {
-        printf("IIC: Unable to select I2C device: %s\n", strerror(errno));
+        log_error("IIC: Unable to select I2C device: %s", strerror(errno));
         return -1;
     }  
     return 0;

hal/utils/pwm.c

@@ -1,3 +1,4 @@
+#include "log.h"
 #include <errno.h>
 #include <stdio.h>
 #include <string.h>
@@ -21,7 +22,7 @@ int uvm_pwm_export(uint32_t pwm)
         return ret;
 
     if (!access(file, F_OK)) {
-        printf("warning: pwm %d, file (%s) has exist\n", pwm, file);
+        log_warn("pwm %d, file (%s) has exist", pwm, file);
         return 0;
     }
     return write_sysfs_int("export", path, 0);
@@ -183,7 +184,7 @@ int uvm_pwm_deinit(uint32_t pwm) {
 
     ret = uvm_pwm_unexport(pwm);
     if (ret < 0) {
-        printf("uvm_pwm_unexport fail\n");
+        log_warn("pwm unexport fail");
         return ret;
     }
     return 0;