From 75157f9f6bd9f04ef85bc09f2ae4a9edbd890a13 Mon Sep 17 00:00:00 2001
From: Ilia-Loginov <ilia.loginov@tii.ae>
Date: Wed, 14 Aug 2024 13:16:42 +0400
Subject: [PATCH] code style

---
 test/mavsdk_tests/mavsdk_preparing.cpp | 95 ++++++++++++++------------
 1 file changed, 50 insertions(+), 45 deletions(-)

diff --git a/test/mavsdk_tests/mavsdk_preparing.cpp b/test/mavsdk_tests/mavsdk_preparing.cpp
index 5b9ba2935869..0744147299b7 100644
--- a/test/mavsdk_tests/mavsdk_preparing.cpp
+++ b/test/mavsdk_tests/mavsdk_preparing.cpp
@@ -21,8 +21,7 @@ using std::chrono::seconds;
 using std::this_thread::sleep_for;
 
 template<typename Rep>
-bool poll_condition_with_timeout_(
-	std::function<bool()> fun, std::chrono::duration<Rep> duration)
+bool poll_condition_with_timeout(std::function<bool()> fun, std::chrono::duration<Rep> duration)
 {
 	static constexpr unsigned check_resolution = 100;
 
@@ -32,44 +31,49 @@ bool poll_condition_with_timeout_(
 	while (!fun()) {
 		std::this_thread::sleep_for(duration_us / check_resolution);
 		const auto elapsed_time_us = std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::steady_clock::now() -
-						start_time);
+					     start_time);
 
 		if (elapsed_time_us > duration_us) {
 			std::cout << "Timeout, waiting for the vehicle for "
-					<< elapsed_time_us.count() * std::chrono::steady_clock::period::num
-					/ static_cast<double>(std::chrono::steady_clock::period::den)
-					<< " seconds\n";
+				  << elapsed_time_us.count() * std::chrono::steady_clock::period::num
+				  / static_cast<double>(std::chrono::steady_clock::period::den)
+				  << " seconds\n";
 			return false;
 		}
 	}
+
 	return true;
 }
 
 int main(int argc, char **argv)
 {
-	const std::string arg_url {"--url"};
-	const std::string arg_command {"--command"};
-	const std::string command_set_param {"set_sys_autostart"};
-	const std::string command_check {"check"};
-	const std::string command_reboot {"reboot"};
-
-	std::string connection_url {};
-	std::string command {};
-	int param_value {};
+	const std::string arg_url{"--url"};
+	const std::string arg_command{"--command"};
+	const std::string command_set_param{"set_sys_autostart"};
+	const std::string command_check{"check"};
+	const std::string command_reboot{"reboot"};
+
+	std::string connection_url{};
+	std::string command{};
+	int param_value{};
+	mavsdk::Mavsdk mavsdk{};
+
 	for (int i = 0; i < argc; ++i) {
 		const std::string argv_string(argv[i]);
+
 		if (argv_string == arg_url && (argc > (i + 1))) {
 			connection_url = argv[i + 1];
 			i++;
-		}
-		else if (argv_string == arg_command && (argc > (i + 1))) {
+
+		} else if (argv_string == arg_command && (argc > (i + 1))) {
 			command = argv[i + 1];
 			i++;
 
 			if (command == command_set_param) {
-				if ((argc > (i + 1))){
+				if ((argc > (i + 1))) {
 					param_value = std::atoi(argv[i + 1]);
 					i++;
+
 				} else {
 					command.erase();
 				}
@@ -83,80 +87,81 @@ int main(int argc, char **argv)
 		return 1;
 	}
 
-   	Mavsdk mavsdk{};
-	std::cout << "connection url " << connection_url << std::endl;
+	std::cout << "Connection url " << connection_url << std::endl;
 	ConnectionResult connection_result = mavsdk.add_any_connection(connection_url);
-	if (connection_result != ConnectionResult::Success)
-	{
+
+	if (connection_result != ConnectionResult::Success) {
 		std::cerr << "Connect was failed" << std::endl;
 		return 1;
 	}
+
 	std::cout << "Waiting for system connect" << std::endl;
 
-    	if(!poll_condition_with_timeout_(
-	[&]() { return mavsdk.systems().size() > 0; }, std::chrono::seconds(25)))
-	{
+
+	auto res_polling = poll_condition_with_timeout([&]() { return mavsdk.systems().size() > 0;}, std::chrono::seconds(25));
+
+	if (not res_polling) {
 		std::cerr << "Polling was failed" << std::endl;
 		return 1;
 	}
 
 	auto system = mavsdk.systems().at(0);
 
-	if(!system)
-	{
+	if (!system) {
 		std::cerr << "The system wasn't be found" << std::endl;
 		return 1;
 	}
 
-	if (command_check == command)
-	{
+	if (command_check == command) {
 		std::cout << "Success! The connection was checked." << std::endl;
 		return 0;
 	}
 
-	if (command_set_param == command)
-	{
+	if (command_set_param == command) {
 		//TODO: For some reason when we set the new value it sometimes takes several attempts to change a parameter.
 		int attempt = 1;
 		const int max_attemp = 5;
 		const auto param_name = "SYS_AUTOSTART";
-		for(auto i = 0; i <= max_attemp; i++)
-		{
+
+		for (attempt = 0; attempt <= max_attemp; attempt++) {
 			using namespace std::chrono_literals;
 			auto param = Param(system);
 
 
-			if (param.set_param_int(param_name, param_value) != Param::Result::Success)
-			{
+			if (param.set_param_int(param_name, param_value) != Param::Result::Success) {
 				std::cerr << "Fail setting param: " << param_name << ", value: "
-								<< param_value <<std::endl;
+					  << param_value << std::endl;
 				return 1;
 			}
 
 			auto res = param.get_param_int(param_name);
-			if (res.first == Param::Result::Success)
-				if (res.second == param_value)
-					break;
+
+			if (res.first == Param::Result::Success && res.second == param_value) {
+				break;
+			}
 
 			std::this_thread::sleep_for(1s);
 		}
-		if (i <= max_attemp) {
+
+		if (attempt <= max_attemp) {
 			std::cout << "Param " << param_name << " was successly set after " << attempt
-				 << " attempt. Tne new value " << param_value << std::endl;
+				  << " attempt. Tne new value " << param_value << std::endl;
+
 		} else {
 			std::cerr << "Fail. Setting param: " << param_name << " wasn't set to value: "
-				  << param_value << "after " << max_attemp << " attempts. " <<std::endl;
-				return 1;
+				  << param_value << "after " << max_attemp << " attempts. " << std::endl;
+			return 1;
 		}
 	}
 
 	if (command_reboot == command) {
 		auto action = Action{system};
-		if ( Action::Result::Success != action.reboot())
-		{
+
+		if (Action::Result::Success != action.reboot()) {
 			std::cerr << "Reboot doesn't work" << std::endl;
 			return 1;
 		}
+
 		std::cout << "Rebooting...\n";
 	}