优化 SharedTopicClient 类的代码格式，统一指针和引用的使用风格

Author: llLeo306

SharedTopicClient.hpp

@@ -19,67 +19,63 @@ depends: []
 #include "app_framework.hpp"
 #include "uart.hpp"
 
-class SharedTopicClient : public LibXR::Application
-{
+class SharedTopicClient : public LibXR::Application {
  public:
-  typedef struct
-  {
-    SharedTopicClient *client;
+  typedef struct {
+    SharedTopicClient* client;
     uint32_t topic_crc32;
     uint32_t index;
   } CallbackInfo;
 
-  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) {}
   };
 
-  SharedTopicClient(LibXR::HardwareContainer &hw, LibXR::ApplicationManager &app,
-                    const char *uart_name, uint32_t task_stack_depth,
-                    uint32_t buffer_size,
+  SharedTopicClient(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)),
         tx_buffer_(new uint8_t[buffer_size], buffer_size),
-        tx_queue_(buffer_size)
-  {
+        tx_queue_(buffer_size) {
     ASSERT(uart_ != nullptr);
 
     topics_pack_buffer_ = new LibXR::RawData[topic_configs.size()];
 
     uint32_t i = 0;
 
-    for (auto config : topic_configs)
-    {
+    for (auto config : topic_configs) {
       auto domain = LibXR::Topic::Domain(config.domain);
       auto ans = LibXR::Topic::Find(config.name, &domain);
-      if (ans == nullptr)
-      {
+      if (ans == nullptr) {
         XR_LOG_ERROR("Topic not found: %s/%s", config.domain, config.name);
         ASSERT(false);
       }
       topics_pack_buffer_[i] = LibXR::RawData(
           new uint8_t[ans->data_.max_length + LibXR::Topic::PACK_BASE_SIZE],
           ans->data_.max_length + LibXR::Topic::PACK_BASE_SIZE);
 
-      void (*func)(bool, CallbackInfo, LibXR::RawData &) =
-          [](bool in_isr, CallbackInfo info, LibXR::RawData &data)
-      {
-        LibXR::WriteOperation op;
-        LibXR::Topic::PackData(info.topic_crc32,
-                               info.client->topics_pack_buffer_[info.index], data);
-        info.client->tx_queue_.PushBatch(
-            static_cast<uint8_t *>(info.client->topics_pack_buffer_[info.index].addr_),
-            info.client->topics_pack_buffer_[info.index].size_);
-        info.client->tx_sem_.PostFromCallback(in_isr);
-      };
-
-      auto msg_cb =
-          LibXR::Topic::Callback::Create(func, CallbackInfo{this, ans->data_.crc32, i});
+      void (*func)(bool, CallbackInfo, LibXR::RawData&) =
+          [](bool in_isr, CallbackInfo info, LibXR::RawData& data) {
+            LibXR::WriteOperation op;
+            LibXR::Topic::PackData(info.topic_crc32,
+                                   info.client->topics_pack_buffer_[info.index],
+                                   data);
+            info.client->tx_queue_.PushBatch(
+                static_cast<uint8_t*>(
+                    info.client->topics_pack_buffer_[info.index].addr_),
+                info.client->topics_pack_buffer_[info.index].size_);
+            info.client->tx_sem_.PostFromCallback(in_isr);
+          };
+
+      auto msg_cb = LibXR::Topic::Callback::Create(
+          func, CallbackInfo{this, ans->data_.crc32, i});
 
       LibXR::Topic topic(ans);
 
@@ -88,37 +84,35 @@ class SharedTopicClient : public LibXR::Application
       i++;
     }
 
-    tx_thread_.Create(this, TxThreadFun, "SharedTopicClientTxThread", task_stack_depth,
-                      LibXR::Thread::Priority::REALTIME);
+    tx_thread_.Create(this, TxThreadFun, "SharedTopicClientTxThread",
+                      task_stack_depth, LibXR::Thread::Priority::REALTIME);
 
     app.Register(*this);
   }
 
-  static void TxThreadFun(SharedTopicClient *client)
-  {
+  static void TxThreadFun(SharedTopicClient* client) {
     LibXR::Semaphore write_op_sem;
     LibXR::WriteOperation op(write_op_sem);
     LibXR::WriteOperation op_none;
-    while (true)
-    {
+    while (true) {
       client->tx_sem_.Wait();
-      auto size = LibXR::min(client->tx_queue_.Size(), client->tx_buffer_.size_);
-      if (size > 0 &&
-          client->tx_queue_.PopBatch(static_cast<uint8_t *>(client->tx_buffer_.addr_),
-                                     size) == ErrorCode::OK)
-      {
-        client->uart_->Write({static_cast<uint8_t *>(client->tx_buffer_.addr_), size},
-                             op_none);
+      auto size =
+          LibXR::min(client->tx_queue_.Size(), client->tx_buffer_.size_);
+      if (size > 0 && client->tx_queue_.PopBatch(
+                          static_cast<uint8_t*>(client->tx_buffer_.addr_),
+                          size) == ErrorCode::OK) {
+        client->uart_->Write(
+            {static_cast<uint8_t*>(client->tx_buffer_.addr_), size}, op_none);
       }
     }
   }
   void OnMonitor() override {}
 
  private:
-  LibXR::UART *uart_;
+  LibXR::UART* uart_;
   LibXR::RawData tx_buffer_;
   LibXR::LockFreeQueue<uint8_t> tx_queue_;
-  LibXR::RawData *topics_pack_buffer_;
+  LibXR::RawData* topics_pack_buffer_;
   LibXR::Semaphore tx_sem_;
   LibXR::Thread tx_thread_;
 };