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AP_OpticalFlow: 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 01c6765b6f
commit 1c08119dd9
2 changed files with 4 additions and 8 deletions
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10
libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
View File

@ -26,15 +26,11 @@ AP_OpticalFlow_HereFlow::AP_OpticalFlow_HereFlow(AP_OpticalFlow &flow) :
}
//links the HereFlow messages to the backend
void AP_OpticalFlow_HereFlow::subscribe_msgs(AP_DroneCAN* ap_dronecan)
bool AP_OpticalFlow_HereFlow::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_dronecan == nullptr) {
return;
}
const auto driver_index = ap_dronecan->get_driver_index();
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_measurement, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("measurement_sub");
}
return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_measurement, driver_index) != nullptr);
}
//updates driver states based on received HereFlow messages

2
libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
View File

@ -15,7 +15,7 @@ public:
void update() override;
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const com_hex_equipment_flow_Measurement &msg);