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AP_RCProtocol: iterate over array size rather than to last entry

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This can move us towards not instantiating backends (having an _num_backends) at some stage.

More typical of what we do throughout the code, and makes the derefernces on the subsequent lines a lot more comfortable to casual browsing.
This commit is contained in:
Peter Barker 2023-01-24 16:56:17 +11:00 committed by Peter Barker
parent 0f35286041
commit 2a263972b2
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_RCProtocol/AP_RCProtocol.cpp
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@ -62,7 +62,7 @@ void AP_RCProtocol::init()
AP_RCProtocol::~AP_RCProtocol()
{
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
if (backend[i] != nullptr) {
delete backend[i];
backend[i] = nullptr;
@ -109,7 +109,7 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
}
// otherwise scan all protocols
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
if (_disabled_for_pulses & (1U << i)) {
// this protocol is disabled for pulse input
continue;
@ -128,7 +128,7 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
}
_new_input = (input_count != backend[i]->get_rc_input_count());
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
for (uint8_t j = 0; j < AP_RCProtocol::NONE; j++) {
for (uint8_t j = 0; j < ARRAY_SIZE(backend); j++) {
if (backend[j]) {
backend[j]->reset_rc_frame_count();
}
@ -194,7 +194,7 @@ bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
}
// otherwise scan all protocols
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
if (backend[i] != nullptr) {
if (!protocol_enabled(rcprotocol_t(i))) {
continue;
@ -211,7 +211,7 @@ bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
_last_input_ms = now;
_detected_with_bytes = true;
for (uint8_t j = 0; j < AP_RCProtocol::NONE; j++) {
for (uint8_t j = 0; j < ARRAY_SIZE(backend); j++) {
if (backend[j]) {
backend[j]->reset_rc_frame_count();
}
@ -234,7 +234,7 @@ void AP_RCProtocol::process_handshake( uint32_t baudrate)
}
// otherwise handshake all protocols
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
if (backend[i] != nullptr) {
backend[i]->process_handshake(baudrate);
}
@ -337,7 +337,7 @@ bool AP_RCProtocol::new_input()
check_added_uart();
// run update function on backends
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
if (backend[i] != nullptr) {
backend[i]->update();
}
@ -387,7 +387,7 @@ int16_t AP_RCProtocol::get_rx_link_quality(void) const
*/
void AP_RCProtocol::start_bind(void)
{
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
for (uint8_t i = 0; i < ARRAY_SIZE(backend); i++) {
if (backend[i] != nullptr) {
backend[i]->start_bind();
}