ApolloAuto · startcode · Jul 5, 2017 · Jul 5, 2017
diff --git a/modules/canbus/vehicle/lincoln/lincoln_controller.cc b/modules/canbus/vehicle/lincoln/lincoln_controller.cc
@@ -665,14 +665,13 @@ bool LincolnController::CheckResponse(const int32_t flags, bool need_wait) {
   bool is_eps_online = false;
   bool is_vcu_online = false;
   bool is_esp_online = false;
-  bool check_ok = false;
 
   do {
     if (message_manager_->GetChassisDetail(&chassis_detail) != ErrorCode::OK) {
       AERROR << "get chassis detail failed.";
       return false;
     }
-    check_ok = true;
+    bool check_ok = true;
     if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {
       is_eps_online = chassis_detail.has_check_response() &&
                       chassis_detail.check_response().has_is_eps_online() &&

diff --git a/modules/drivers/gnss/include/gnss/novatel_messages.h b/modules/drivers/gnss/include/gnss/novatel_messages.h
@@ -20,8 +20,8 @@
 //  http://www.novatel.com/assets/Documents/Manuals/om-20000129.pdf
 //  http://www.novatel.com/assets/Documents/Manuals/OM-20000144UM.pdf
 
-#ifndef DRIVERS_GNSS_NOVATEL_MESSAGES_H
-#define DRIVERS_GNSS_NOVATEL_MESSAGES_H
+#ifndef MODULES_DRIVERS_GNSS_NOVATEL_MESSAGES_H_
+#define MODULES_DRIVERS_GNSS_NOVATEL_MESSAGES_H_
 
 #include <stdint.h>
 
@@ -353,4 +353,4 @@ inline ImuParameter get_imu_parameter(ImuType type) {
 }  // namespace drivers
 }  // namespace apollo
 
-#endif  // DRIVERS_GNSS_NOVATEL_MESSAGES_H
+#endif  // MODULES_DRIVERS_GNSS_NOVATEL_MESSAGES_H_
diff --git a/modules/drivers/gnss/include/gnss/parser.h b/modules/drivers/gnss/include/gnss/parser.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef DRIVERS_GNSS_PARSER_H
-#define DRIVERS_GNSS_PARSER_H
+#ifndef MODULES_DRIVERS_GNSS_PARSER_H_
+#define MODULES_DRIVERS_GNSS_PARSER_H_
 
 #include <stdint.h>
 
@@ -103,4 +103,4 @@ class Parser {
 }  // namespace drivers
 }  // namespace apollo
 
-#endif  // DRIVERS_GNSS_PARSER_H
+#endif  // MODULES_DRIVERS_GNSS_PARSER_H_
diff --git a/modules/drivers/gnss/include/gnss/stream.h b/modules/drivers/gnss/include/gnss/stream.h
@@ -16,8 +16,8 @@
 
 // This defines an stream interface for communication via USB, Ethernet, etc.
 
-#ifndef DRIVERS_GNSS_STREAM_H
-#define DRIVERS_GNSS_STREAM_H
+#ifndef MODULES_DRIVERS_GNSS_STREAM_H_
+#define MODULES_DRIVERS_GNSS_STREAM_H_
 
 #include <ros/ros.h>
 #include <stdint.h>
@@ -107,4 +107,4 @@ class Stream {
 }  // namespace drivers
 }  // namespace apollo
 
-#endif  // DRIVERS_GNSS_STREAM_H
+#endif  // MODULES_DRIVERS_GNSS_STREAM_H_
diff --git a/modules/drivers/gnss/include/gnss/utils.h b/modules/drivers/gnss/include/gnss/utils.h
@@ -14,13 +14,12 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef DRIVERS_GNSS_UTILS_H
-#define DRIVERS_GNSS_UTILS_H
+#ifndef MODULES_DRIVERS_GNSS_UTILS_H_
+#define MODULES_DRIVERS_GNSS_UTILS_H_
 
 #include <string>
 
 #include "proto/config.pb.h"
-//#include "modules/drivers/gnss/proto/config.pb.h"
 
 namespace apollo {
 namespace drivers {
@@ -34,4 +33,4 @@ std::string encode_base64(const std::string& in);
 }  // namespace drivers
 }  // namespace apollo
 
-#endif  // DRIVERS_GNSS_UTILS_H
+#endif  // MODULES_DRIVERS_GNSS_UTILS_H_
diff --git a/modules/drivers/gnss/include/util/macros.h b/modules/drivers/gnss/include/util/macros.h
@@ -17,8 +17,8 @@
 // Commonly-used macro definitions. Some of them are copied from
 // https://chromium.googlesource.com/chromium/src/base/+/master/macros.h
 
-#ifndef APOLLO_DRIVERS_GNSS_INCLUDE_UTIL_MACROS_H
-#define APOLLO_DRIVERS_GNSS_INCLUDE_UTIL_MACROS_H
+#ifndef MODULES_DRIVERS_GNSS_INCLUDE_UTIL_MACROS_H_
+#define MODULES_DRIVERS_GNSS_INCLUDE_UTIL_MACROS_H_
 
 #include <cstddef>
 
@@ -65,4 +65,4 @@ constexpr size_t array_size(T (&)[N]) {
 
 }  // namespace apollo
 
-#endif  // APOLLO_DRIVERS_GNSS_INCLUDE_UTIL_MACROS_H
+#endif  // MODULES_DRIVERS_GNSS_INCLUDE_UTIL_MACROS_H_
diff --git a/modules/drivers/gnss/include/util/time_conversion.h b/modules/drivers/gnss/include/util/time_conversion.h
@@ -17,10 +17,11 @@
 // Converts GPS timestamp from/to UNIX system timestamp.
 // This helper is considering leap second.
 
-#ifndef APOLLO_DRIVERS_GNSS_TIME_CONVERSION_H
-#define APOLLO_DRIVERS_GNSS_TIME_CONVERSION_H
+#ifndef MODULES_DRIVERS_GNSS_TIME_CONVERSION_H_
+#define MODULES_DRIVERS_GNSS_TIME_CONVERSION_H_
 
 #include <stdint.h>
+
 #include "macros.h"
 
 namespace apollo {
@@ -139,4 +140,4 @@ T gps2unix(T gps_seconds) {
 }  // namespace drivers
 }  // namespace apollo
 
-#endif  // APOLLO_DRIVERS_GNSS_TIME_CONVERSION_H
+#endif  // MODULES_DRIVERS_GNSS_TIME_CONVERSION_H_
diff --git a/modules/drivers/gnss/src/data_parser.cpp b/modules/drivers/gnss/src/data_parser.cpp
@@ -306,6 +306,7 @@ void DataParser::publish_corrimu_pb_message(const MessagePtr message) {
       << " s.");
   _imu_publisher.publish(imu);
 }
-}
-}
-}
+
+}  // namespace gnss
+}  // namespace drivers
+}  // namespace apollo
diff --git a/modules/drivers/gnss/src/data_parser.h b/modules/drivers/gnss/src/data_parser.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef DRIVERS_GNSS_DATA_PARSER_H
-#define DRIVERS_GNSS_DATA_PARSER_H
+#ifndef MODULES_DRIVERS_GNSS_DATA_PARSER_H_
+#define MODULES_DRIVERS_GNSS_DATA_PARSER_H_
 
 #include <memory>
 
@@ -75,4 +75,4 @@ class DataParser {
 }  // namespace drivers
 }  // namespace apollo
 
-#endif
+#endif  // MODULES_DRIVERS_GNSS_DATA_PARSER_H_
diff --git a/modules/drivers/gnss/src/impl/tcp_stream.cpp b/modules/drivers/gnss/src/impl/tcp_stream.cpp
@@ -282,7 +282,6 @@ size_t TcpStream::read(uint8_t* buffer, size_t max_length) {
 }
 
 size_t TcpStream::write(const uint8_t* buffer, size_t length) {
-  ssize_t nsent = 0;
   size_t total_nsent = 0;
 
   if (_status != Stream::Status::CONNECTED) {
@@ -294,7 +293,7 @@ size_t TcpStream::write(const uint8_t* buffer, size_t length) {
   }
 
   while (length > 0) {
-    nsent = ::send(_sockfd, buffer, length, 0);
+    ssize_t nsent = ::send(_sockfd, buffer, length, 0);
     if (nsent < 0) {
       if (errno == EINTR) {
         continue;

diff --git a/modules/drivers/gnss/src/impl/udp_stream.cpp b/modules/drivers/gnss/src/impl/udp_stream.cpp
@@ -198,7 +198,6 @@ size_t UdpStream::read(uint8_t* buffer, size_t max_length) {
 }
 
 size_t UdpStream::write(const uint8_t* data, size_t length) {
-  ssize_t nsent = 0;
   size_t total_nsent = 0;
   struct sockaddr_in peer_sockaddr;
   bzero(&peer_sockaddr, sizeof(peer_sockaddr));
@@ -207,8 +206,9 @@ size_t UdpStream::write(const uint8_t* data, size_t length) {
   peer_sockaddr.sin_addr.s_addr = _peer_addr;
 
   while (length > 0) {
-    nsent = ::sendto(_sockfd, data, length, 0, (struct sockaddr*)&peer_sockaddr,
-                     (socklen_t)sizeof(peer_sockaddr));
+    ssize_t nsent =
+        ::sendto(_sockfd, data, length, 0, (struct sockaddr*)&peer_sockaddr,
+                 (socklen_t)sizeof(peer_sockaddr));
     if (nsent < 0) {  // error
       if (errno == EINTR) {
         continue;

diff --git a/modules/drivers/gnss/src/parser_nodelet.cpp b/modules/drivers/gnss/src/parser_nodelet.cpp
@@ -14,70 +14,70 @@
  * limitations under the License.
  *****************************************************************************/
 
+#include <nodelet/nodelet.h>
+#include <pluginlib/class_list_macros.h>
 #include <ros/ros.h>
 #include <std_msgs/String.h>
-#include <pluginlib/class_list_macros.h>
-#include <nodelet/nodelet.h>
 
-#include "gnss/parser.h"
 #include "data_parser.h"
+#include "gnss/parser.h"
 
 namespace apollo {
-namespace drivers{
+namespace drivers {
 namespace gnss {
 
 class ParserNodelet : public nodelet::Nodelet {
-public:
-    ParserNodelet() {}
-    ~ParserNodelet() {}
+ public:
+  ParserNodelet() {}
+  ~ParserNodelet() {}
 
-private:
-    virtual void onInit();
+ private:
+  virtual void onInit();
 
-    std::unique_ptr<DataParser> _data_parser;
+  std::unique_ptr<DataParser> _data_parser;
 };
 
 void ParserNodelet::onInit() {
-    ros::NodeHandle& nh = getPrivateNodeHandle();
-    std::string gnss_conf;
-    std::string raw_data_topic;
-    std::string gpgga_topic;
-    std::string corr_imu_topic;
-    std::string odometry_topic;
-    std::string gnss_status_topic;
-    std::string ins_status_topic;
+  ros::NodeHandle& nh = getPrivateNodeHandle();
+  std::string gnss_conf;
+  std::string raw_data_topic;
+  std::string gpgga_topic;
+  std::string corr_imu_topic;
+  std::string odometry_topic;
+  std::string gnss_status_topic;
+  std::string ins_status_topic;
 
-    nh.param("gnss_conf", gnss_conf, std::string("./conf/gnss_conf.txt"));
-    nh.param("raw_data_topic", raw_data_topic, std::string("/apollo/sensor/gnss/raw_data"));
-    nh.param("gpgga_topic", gpgga_topic, std::string("/apollo/sensor/gnss/gpgga"));
-    nh.param("corr_imu_topic", corr_imu_topic, std::string("/apollo/sensor/gnss/corrected_imu"));
-    nh.param("odometry_topic", odometry_topic, std::string("/apollo/sensor/gnss/odometry"));
-    nh.param("gnss_status_topic", gnss_status_topic, std::string("/apollo/sensor/gnss/gnss_status"));
-    nh.param("ins_status_topic", ins_status_topic, std::string("/apollo/sensor/gnss/ins_status"));
+  nh.param("gnss_conf", gnss_conf, std::string("./conf/gnss_conf.txt"));
+  nh.param("raw_data_topic", raw_data_topic,
+           std::string("/apollo/sensor/gnss/raw_data"));
+  nh.param("gpgga_topic", gpgga_topic,
+           std::string("/apollo/sensor/gnss/gpgga"));
+  nh.param("corr_imu_topic", corr_imu_topic,
+           std::string("/apollo/sensor/gnss/corrected_imu"));
+  nh.param("odometry_topic", odometry_topic,
+           std::string("/apollo/sensor/gnss/odometry"));
+  nh.param("gnss_status_topic", gnss_status_topic,
+           std::string("/apollo/sensor/gnss/gnss_status"));
+  nh.param("ins_status_topic", ins_status_topic,
+           std::string("/apollo/sensor/gnss/ins_status"));
 
-    _data_parser.reset(new DataParser(
-                                nh,
-                                raw_data_topic,
-                                gpgga_topic,
-                                corr_imu_topic,
-                                odometry_topic,
-                                gnss_status_topic,
-                                ins_status_topic));
-    if (!_data_parser->init(gnss_conf)) {
-        ROS_ERROR("Init parser nodelet failed.");
-        ROS_ERROR_STREAM("Init parser nodelet failed.");
-        return;
-    }
-    ROS_INFO("Init parser nodelet success.");
+  _data_parser.reset(new DataParser(nh, raw_data_topic, gpgga_topic,
+                                    corr_imu_topic, odometry_topic,
+                                    gnss_status_topic, ins_status_topic));
+  if (!_data_parser->init(gnss_conf)) {
+    ROS_ERROR("Init parser nodelet failed.");
+    ROS_ERROR_STREAM("Init parser nodelet failed.");
+    return;
+  }
+  ROS_INFO("Init parser nodelet success.");
 }
 
-}
-}
-}
+}  // namespace gnss
+}  // namespace drivers
+}  // namespace apollo
 
 // Register this plugin with pluginlib.  Names must match nodelet_gnss.xml.
 //
 // parameters: package, class name, class type, base class type
 PLUGINLIB_DECLARE_CLASS(gnss_driver, ParserNodelet,
-        apollo::drivers::gnss::ParserNodelet, nodelet::Nodelet);
-
+                        apollo::drivers::gnss::ParserNodelet, nodelet::Nodelet);
diff --git a/modules/drivers/gnss/src/raw_stream.cpp b/modules/drivers/gnss/src/raw_stream.cpp
@@ -378,19 +378,6 @@ bool RawStream::logout() {
   return true;
 }
 
-std::string RawStream::status_string(Stream::Status status) {
-  switch (status) {
-    case Stream::Status::DISCONNECTED:
-      return std::string("disconnected");
-
-    case Stream::Status::ERROR:
-      return std::string("error");
-
-    default:
-      return std::string("ok.");
-  }
-}
-
 void RawStream::stream_status_check() {
   bool status_report = false;
   apollo::common::gnss_status::StreamStatus_Type report_stream_status;
@@ -449,7 +436,6 @@ void RawStream::ntrip_spin() {
     return;
   }
   while (ros::ok()) {
-    size_t ret = 0;
     size_t length = _in_rtk_stream->read(_buffer_ntrip, BUFFER_SIZE);
     if (length > 0) {
       if (_rtk_software_solution) {
@@ -465,7 +451,7 @@ void RawStream::ntrip_spin() {
         if (_out_rtk_stream == nullptr) {
           continue;
         }
-        ret = _out_rtk_stream->write(_buffer_ntrip, length);
+        size_t ret = _out_rtk_stream->write(_buffer_ntrip, length);
         if (ret != length) {
           ROS_ERROR_STREAM("Expect write out rtk stream bytes "
                            << length << " but got " << ret);
@@ -474,6 +460,7 @@ void RawStream::ntrip_spin() {
     }
   }
 }
+
 }  // namespace gnss
 }  // namespace drivers
 }  // namespace apollo
diff --git a/modules/drivers/gnss/src/raw_stream.h b/modules/drivers/gnss/src/raw_stream.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#ifndef DRIVERS_GNSS_RAW_STREAM_H
-#define DRIVERS_GNSS_RAW_STREAM_H
+#ifndef MODULES_DRIVERS_GNSS_RAW_STREAM_H_
+#define MODULES_DRIVERS_GNSS_RAW_STREAM_H_
 
 #include <memory>
 #include <thread>
@@ -52,7 +52,6 @@ class RawStream {
   bool login();
   bool logout();
   void stream_status_check();
-  std::string status_string(Stream::Status status);
 
   static constexpr size_t BUFFER_SIZE = 2048;
   uint8_t _buffer[BUFFER_SIZE];
@@ -82,7 +81,9 @@ class RawStream {
   std::unique_ptr<std::thread> _data_thread_ptr;
   std::unique_ptr<std::thread> _ntrip_thread_ptr;
 };
-}
-}
-}
-#endif
+
+}  // namespace apollo
+}  // namespace drivers
+}  // namespace gnss
+
+#endif  // MODULES_DRIVERS_GNSS_RAW_STREAM_H_