Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tools: removed assert calls 

these waste flash space and do not do us any good
This commit is contained in:
Andrew Tridgell 2021-03-25 12:48:59 +11:00
parent 1f60eb68ec
commit 22c936140e
2 changed files with 0 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Tools/AP_Bootloader/can.cpp
View File

@ -310,7 +310,6 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
uint8_t received_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH]; uint8_t received_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH];
uint8_t received_unique_id_len = 0; uint8_t received_unique_id_len = 0;
for (; received_unique_id_len < (transfer->payload_len - (UniqueIDBitOffset / 8U)); received_unique_id_len++) { for (; received_unique_id_len < (transfer->payload_len - (UniqueIDBitOffset / 8U)); received_unique_id_len++) {
assert(received_unique_id_len < UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
const uint8_t bit_offset = (uint8_t)(UniqueIDBitOffset + received_unique_id_len * 8U); const uint8_t bit_offset = (uint8_t)(UniqueIDBitOffset + received_unique_id_len * 8U);
(void) canardDecodeScalar(transfer, bit_offset, 8, false, &received_unique_id[received_unique_id_len]); (void) canardDecodeScalar(transfer, bit_offset, 8, false, &received_unique_id[received_unique_id_len]);
} }
@ -333,7 +332,6 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
// Allocation complete - copying the allocated node ID from the message // Allocation complete - copying the allocated node ID from the message
uint8_t allocated_node_id = 0; uint8_t allocated_node_id = 0;
(void) canardDecodeScalar(transfer, 0, 7, false, &allocated_node_id); (void) canardDecodeScalar(transfer, 0, 7, false, &allocated_node_id);
assert(allocated_node_id <= 127);
canardSetLocalNodeID(ins, allocated_node_id); canardSetLocalNodeID(ins, allocated_node_id);
} }

8
Tools/AP_Periph/can.cpp
View File

@ -417,7 +417,6 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
uint8_t received_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH]; uint8_t received_unique_id[UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH];
uint8_t received_unique_id_len = 0; uint8_t received_unique_id_len = 0;
for (; received_unique_id_len < (transfer->payload_len - (UniqueIDBitOffset / 8U)); received_unique_id_len++) { for (; received_unique_id_len < (transfer->payload_len - (UniqueIDBitOffset / 8U)); received_unique_id_len++) {
assert(received_unique_id_len < UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
const uint8_t bit_offset = (uint8_t)(UniqueIDBitOffset + received_unique_id_len * 8U); const uint8_t bit_offset = (uint8_t)(UniqueIDBitOffset + received_unique_id_len * 8U);
(void) canardDecodeScalar(transfer, bit_offset, 8, false, &received_unique_id[received_unique_id_len]); (void) canardDecodeScalar(transfer, bit_offset, 8, false, &received_unique_id[received_unique_id_len]);
} }
@ -443,7 +442,6 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr
// Allocation complete - copying the allocated node ID from the message // Allocation complete - copying the allocated node ID from the message
uint8_t allocated_node_id = 0; uint8_t allocated_node_id = 0;
(void) canardDecodeScalar(transfer, 0, 7, false, &allocated_node_id); (void) canardDecodeScalar(transfer, 0, 7, false, &allocated_node_id);
assert(allocated_node_id <= 127);
canardSetLocalNodeID(ins, allocated_node_id); canardSetLocalNodeID(ins, allocated_node_id);
printf("Node ID allocated: %d\n", allocated_node_id); printf("Node ID allocated: %d\n", allocated_node_id);
@ -1212,12 +1210,6 @@ static void can_wait_node_id(void)
uid_size = MaxLenOfUniqueIDInRequest; uid_size = MaxLenOfUniqueIDInRequest;
} }
// Paranoia time
assert(node_id_allocation_unique_id_offset < UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
assert(uid_size <= MaxLenOfUniqueIDInRequest);
assert(uid_size > 0);
assert((uid_size + node_id_allocation_unique_id_offset) <= UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_UNIQUE_ID_MAX_LENGTH);
memmove(&allocation_request[1], &my_unique_id[node_id_allocation_unique_id_offset], uid_size); memmove(&allocation_request[1], &my_unique_id[node_id_allocation_unique_id_offset], uid_size);
// Broadcasting the request // Broadcasting the request