1 files changed, 31 insertions, 7 deletions

diff --git a/src/systemcmds/tests/test_dataman.c b/src/systemcmds/tests/test_dataman.c
index 1f844a97d..c58e1a51e 100644
--- a/src/systemcmds/tests/test_dataman.c
+++ b/src/systemcmds/tests/test_dataman.c
@@ -70,19 +70,23 @@ task_main(int argc, char *argv[])
 	warnx("Starting dataman test task %s", argv[1]);
 	/* try to read an invalid item */
 	int my_id = atoi(argv[1]);
+
 	/* try to read an invalid item */
 	if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) {
 		warnx("%d read an invalid item failed", my_id);
 		goto fail;
 	}
+
 	/* try to read an invalid index */
 	if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) {
 		warnx("%d read an invalid index failed", my_id);
 		goto fail;
 	}
+
 	srand(hrt_absolute_time() ^ my_id);
 	unsigned hit = 0, miss = 0;
 	wstart = hrt_absolute_time();
+
 	for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
 		memset(buffer, my_id, sizeof(buffer));
 		buffer[1] = i;
@@ -91,44 +95,53 @@ task_main(int argc, char *argv[])
 
 		int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
 		warnx("ret: %d", ret);
+
 		if (ret != len) {
 			warnx("%d write failed, index %d, length %d", my_id, hash, len);
 			goto fail;
 		}
+
 		usleep(rand() & ((64 * 1024) - 1));
 	}
+
 	rstart = hrt_absolute_time();
 	wend = rstart;
 
 	for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
 		unsigned hash = i ^ my_id;
 		unsigned len2, len = (hash & 63) + 2;
+
 		if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, sizeof(buffer))) < 2) {
 			warnx("%d read failed length test, index %d", my_id, hash);
 			goto fail;
 		}
+
 		if (buffer[0] == my_id) {
 			hit++;
+
 			if (len2 != len) {
 				warnx("%d read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
 				goto fail;
 			}
+
 			if (buffer[1] != i) {
 				warnx("%d data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
 				goto fail;
 			}
-		}
-		else
+
+		} else {
 			miss++;
+		}
 	}
+
 	rend = hrt_absolute_time();
 	warnx("Test %d pass, hit %d, miss %d, io time read %llums. write %llums.",
-		my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_SUPPORTED / 1000, (wend - wstart) / NUM_MISSIONS_SUPPORTED / 1000);
+	      my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_SUPPORTED / 1000, (wend - wstart) / NUM_MISSIONS_SUPPORTED / 1000);
 	sem_post(sems + my_id);
 	return 0;
 fail:
 	warnx("Test %d fail, buffer %02x %02x %02x %02x %02x %02x",
-		my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
+	      my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
 	sem_post(sems + my_id);
 	return -1;
 }
@@ -138,11 +151,13 @@ int test_dataman(int argc, char *argv[])
 	int i, num_tasks = 4;
 	char buffer[DM_MAX_DATA_SIZE];
 
-	if (argc > 1)
+	if (argc > 1) {
 		num_tasks = atoi(argv[1]);
-	
+	}
+
 	sems = (sem_t *)malloc(num_tasks * sizeof(sem_t));
 	warnx("Running %d tasks", num_tasks);
+
 	for (i = 0; i < num_tasks; i++) {
 		int task;
 		char a[16];
@@ -151,32 +166,41 @@ int test_dataman(int argc, char *argv[])
 		av[0] = a;
 		av[1] = 0;
 		sem_init(sems + i, 1, 0);
+
 		/* start the task */
 		if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, av)) <= 0) {
 			warn("task start failed");
 		}
 	}
+
 	for (i = 0; i < num_tasks; i++) {
 		sem_wait(sems + i);
 		sem_destroy(sems + i);
 	}
+
 	free(sems);
 	dm_restart(DM_INIT_REASON_IN_FLIGHT);
+
 	for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
-		if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0)
+		if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
 			break;
+		}
 	}
+
 	if (i >= NUM_MISSIONS_SUPPORTED) {
 		warnx("Restart in-flight failed");
 		return -1;
 
 	}
+
 	dm_restart(DM_INIT_REASON_POWER_ON);
+
 	for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
 		if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
 			warnx("Restart power-on failed");
 			return -1;
 		}
 	}
+
 	return 0;
 }