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AP_Proximity: 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 1c08119dd9
commit 453b83c159
2 changed files with 4 additions and 8 deletions
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10
libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
View File

@ -32,15 +32,11 @@ ObjectBuffer_TS<AP_Proximity_DroneCAN::ObstacleItem> AP_Proximity_DroneCAN::item
//links the Proximity DroneCAN message to this backend
void AP_Proximity_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
bool AP_Proximity_DroneCAN::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);
}
//Method to find the backend relating to the node id

2
libraries/AP_Proximity/AP_Proximity_DroneCAN.h
View File

@ -23,7 +23,7 @@ public:
static AP_Proximity_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
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 ardupilot_equipment_proximity_sensor_Proximity &msg);