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AP_Mount: optimize DroneCAN subscription process 

* remove unnecessary nullptr check, these are always called from an
  initialized AP_DroneCAN so if it's nullptr something has gone
  horrifically wrong

* pass in driver index instead of repeatedly calling function to get it

* simplify error handling; knowing exactly which allocation failed is not
  super helpful and one failing likely means subsequent ones will too,
  as it can only fail due to being out of memory
This commit is contained in:
Thomas Watson 2024-11-16 21:21:13 -06:00 committed by Andrew Tridgell
parent 360e54f871
commit 01c6765b6f
2 changed files with 6 additions and 14 deletions
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18
libraries/AP_Mount/AP_Mount_Xacti.cpp
View File

@ -416,21 +416,13 @@ void AP_Mount_Xacti::send_target_angles(float pitch_rad, float yaw_rad, bool yaw
}
// subscribe to Xacti DroneCAN messages
void AP_Mount_Xacti::subscribe_msgs(AP_DroneCAN* ap_dronecan)
bool AP_Mount_Xacti::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
// return immediately if DroneCAN is unavailable
if (ap_dronecan == nullptr) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "%s DroneCAN subscribe failed", send_text_prefix);
return;
}
const auto driver_index = ap_dronecan->get_driver_index();
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_gimbal_attitude_status, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("gimbal_attitude_status_sub");
}
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_gnss_status_req, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("gnss_status_req_sub");
}
return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_gimbal_attitude_status, driver_index) != nullptr)
&& (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_gnss_status_req, driver_index) != nullptr)
;
}
// register backend in detected modules array used to map DroneCAN port and node id to backend

2
libraries/AP_Mount/AP_Mount_Xacti.h
View File

@ -75,7 +75,7 @@ public:
void send_camera_settings(mavlink_channel_t chan) const override;
// subscribe to Xacti DroneCAN messages
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
// xacti specific message handlers
static void handle_gimbal_attitude_status(AP_DroneCAN* ap_dronecan, const CanardRxTransfer& transfer, const com_xacti_GimbalAttitudeStatus &msg);