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AP_MSP: factor code in init method 

This factors code in AP_MSP:init() and removes two of the three identical implementations for initialising backends
This commit is contained in:
Shiv Tyagi 2021-10-26 22:56:13 +05:30 committed by Peter Barker
parent 3eae5b54d2
commit 1c33cfca5d
1 changed files with 19 additions and 37 deletions
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42
libraries/AP_MSP/AP_MSP.cpp
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@ -86,38 +86,19 @@ void AP_MSP::init()
const AP_SerialManager &serial_manager = AP::serialmanager();
AP_HAL::UARTDriver *uart = nullptr;
uint8_t backends_using_msp_thread = 0;
// DJI FPV backends
for (uint8_t protocol_instance=0; protocol_instance<MSP_MAX_INSTANCES; protocol_instance++) {
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_DJI_FPV, protocol_instance);
if (uart != nullptr) {
if (!init_backend(_msp_status.backend_count, uart, AP_SerialManager::SerialProtocol_DJI_FPV)) {
break;
}
if (_backends[_msp_status.backend_count]->use_msp_thread()) {
backends_using_msp_thread++;
}
_msp_status.backend_count++;
}
}
// generic MSP backends
for (uint8_t protocol_instance=0; protocol_instance<MSP_MAX_INSTANCES-_msp_status.backend_count; protocol_instance++) {
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_MSP, protocol_instance);
if (uart != nullptr) {
if (!init_backend(_msp_status.backend_count, uart, AP_SerialManager::SerialProtocol_MSP)) {
break;
}
if (_backends[_msp_status.backend_count]->use_msp_thread()) {
backends_using_msp_thread++;
}
_msp_status.backend_count++;
}
}
static const AP_SerialManager::SerialProtocol msp_protocols[] {
AP_SerialManager::SerialProtocol_DJI_FPV,
AP_SerialManager::SerialProtocol_MSP,
#if HAL_WITH_MSP_DISPLAYPORT
// MSP DisplayPort backends
AP_SerialManager::SerialProtocol_MSP_DisplayPort,
#endif
};
for (const auto msp_protocol: msp_protocols) {
for (uint8_t protocol_instance=0; protocol_instance<MSP_MAX_INSTANCES-_msp_status.backend_count; protocol_instance++) {
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_MSP_DisplayPort, protocol_instance);
uart = serial_manager.find_serial(msp_protocol, protocol_instance);
if (uart != nullptr) {
if (!init_backend(_msp_status.backend_count, uart, AP_SerialManager::SerialProtocol_MSP_DisplayPort)) {
if (!init_backend(_msp_status.backend_count, uart, msp_protocol)) {
break;
}
if (_backends[_msp_status.backend_count]->use_msp_thread()) {
@ -126,7 +107,8 @@ void AP_MSP::init()
_msp_status.backend_count++;
}
}
#endif
}
if (backends_using_msp_thread > 0) {
// we've found at least 1 msp backend, start protocol handler
if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_MSP::loop, void),