优化 SharedTopic 类的 TopicConfig 结构，统一指针风格并简化构造函数

Author: llLeo306

SharedTopic.hpp

@@ -29,36 +29,33 @@ depends: []
 #include "thread.hpp"
 #include "uart.hpp"
 
-class SharedTopic : public LibXR::Application
-{
+class SharedTopic : public LibXR::Application {
  public:
-  struct TopicConfig
-  {
-    const char *name;
-    const char *domain = "libxr_def_domain";
+  struct TopicConfig {
+    const char* name;
+    const char* domain = "libxr_def_domain";
 
-    TopicConfig(const char *name) : name(name) {}
+    TopicConfig(const char* name) : name(name) {}
 
-    TopicConfig(const char *name, const char *domain) : name(name), domain(domain) {}
+    TopicConfig(const char* name, const char* domain)
+        : name(name), domain(domain) {}
   };
 
-  SharedTopic(LibXR::HardwareContainer &hw, LibXR::ApplicationManager &app,
-              const char *uart_name, uint32_t task_stack_depth, uint32_t buffer_size,
+  SharedTopic(LibXR::HardwareContainer& hw, LibXR::ApplicationManager& app,
+              const char* uart_name, uint32_t task_stack_depth,
+              uint32_t buffer_size,
               std::initializer_list<TopicConfig> topic_configs)
       : uart_(hw.template Find<LibXR::UART>(uart_name)),
         server_(buffer_size),
         rx_buffer_(new uint8_t[buffer_size], buffer_size),
         cmd_name_(new char[sizeof("shared_topic:") + strlen(uart_name)]),
         cmd_file_((strcpy(cmd_name_, "shared_topic:"),
                    strcpy(cmd_name_ + strlen("shared_topic:"), uart_name),
-                   LibXR::RamFS::CreateFile(cmd_name_, CommandFunc, this)))
-  {
-    for (auto config : topic_configs)
-    {
+                   LibXR::RamFS::CreateFile(cmd_name_, CommandFunc, this))) {
+    for (auto config : topic_configs) {
       auto domain = LibXR::Topic::Domain(config.domain);
       auto topic = LibXR::Topic::Find(config.name, &domain);
-      if (topic == nullptr)
-      {
+      if (topic == nullptr) {
         XR_LOG_ERROR("Topic not found: %s/%s", config.domain, config.name);
         ASSERT(false);
       }
@@ -67,26 +64,24 @@ class SharedTopic : public LibXR::Application
 
     hw.template FindOrExit<LibXR::RamFS>({"ramfs"})->Add(cmd_file_);
 
-    rx_thread_.Create(this, RxThreadFun, "SharedTopic::RxThread", task_stack_depth,
-                      LibXR::Thread::Priority::REALTIME);
+    rx_thread_.Create(this, RxThreadFun, "SharedTopic::RxThread",
+                      task_stack_depth, LibXR::Thread::Priority::REALTIME);
 
     app.Register(*this);
   }
 
-  static void RxThreadFun(SharedTopic *self)
-  {
+  static void RxThreadFun(SharedTopic* self) {
     LibXR::Semaphore sem;
     LibXR::ReadOperation op(sem);
-    while (true)
-    {
+    while (true) {
       self->uart_->Read({nullptr, 0}, op);
-      auto size =
-          LibXR::max(sizeof(LibXR::Topic::PackedDataHeader),
-                     LibXR::min(self->uart_->read_port_->Size(), self->rx_buffer_.size_));
-      auto ans = self->uart_->Read(LibXR::RawData{self->rx_buffer_.addr_, size}, op);
+      auto size = LibXR::max(
+          sizeof(LibXR::Topic::PackedDataHeader),
+          LibXR::min(self->uart_->read_port_->Size(), self->rx_buffer_.size_));
+      auto ans =
+          self->uart_->Read(LibXR::RawData{self->rx_buffer_.addr_, size}, op);
 
-      if (ans == ErrorCode::OK)
-      {
+      if (ans == ErrorCode::OK) {
         self->server_.ParseData(LibXR::RawData{self->rx_buffer_.addr_, size});
       }
 
@@ -96,34 +91,27 @@ class SharedTopic : public LibXR::Application
 
   void OnMonitor() override {}
 
-  static int CommandFunc(SharedTopic *self, int argc, char **argv)
-  {
-    if (argc == 1)
-    {
+  static int CommandFunc(SharedTopic* self, int argc, char** argv) {
+    if (argc == 1) {
       LibXR::STDIO::Printf("Usage:\r\n");
-      LibXR::STDIO::Printf("  monitor [time_ms] [interval_ms] - test received speed\r\n");
+      LibXR::STDIO::Printf(
+          "  monitor [time_ms] [interval_ms] - test received speed\r\n");
       return 0;
-    }
-    else if (argc == 4)
-    {
-      if (strcmp(argv[1], "monitor") == 0)
-      {
+    } else if (argc == 4) {
+      if (strcmp(argv[1], "monitor") == 0) {
         int time = atoi(argv[2]);
         int delay = atoi(argv[3]);
         auto start = self->rx_count_;
-        while (time > 0)
-        {
+        while (time > 0) {
           LibXR::Thread::Sleep(delay);
           LibXR::STDIO::Printf(
-              "%f Mbps\r\n", static_cast<float>(self->rx_count_ - start) * 8.0 / 1024.0 /
-                                 1024.0 / delay * 1000.0);
+              "%f Mbps\r\n", static_cast<float>(self->rx_count_ - start) * 8.0 /
+                                 1024.0 / 1024.0 / delay * 1000.0);
           time -= delay;
           start = self->rx_count_;
         }
       }
-    }
-    else
-    {
+    } else {
       LibXR::STDIO::Printf("Error: Invalid arguments.\r\n");
       return -1;
     }
@@ -132,15 +120,15 @@ class SharedTopic : public LibXR::Application
   }
 
  private:
-  LibXR::UART *uart_;
+  LibXR::UART* uart_;
 
   LibXR::Topic::Server server_;
 
   LibXR::RawData rx_buffer_;
 
   size_t rx_count_ = 0;
 
-  char *cmd_name_;
+  char* cmd_name_;
 
   LibXR::RamFS::File cmd_file_;