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

AP_DroneCAN: 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 2dd98e60ea
commit 5874337df7
1 changed files with 18 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
libraries/AP_DroneCAN/AP_DroneCAN.cpp
View File

@ -368,45 +368,50 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
}
// Roundup all subscribers from supported drivers
bool subscribed = true;
#if AP_GPS_DRONECAN_ENABLED
AP_GPS_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_GPS_DroneCAN::subscribe_msgs(this);
#endif
#if AP_COMPASS_DRONECAN_ENABLED
AP_Compass_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_Compass_DroneCAN::subscribe_msgs(this);
#endif
#if AP_BARO_DRONECAN_ENABLED
AP_Baro_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_Baro_DroneCAN::subscribe_msgs(this);
#endif
AP_BattMonitor_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_BattMonitor_DroneCAN::subscribe_msgs(this);
#if AP_AIRSPEED_DRONECAN_ENABLED
AP_Airspeed_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_Airspeed_DroneCAN::subscribe_msgs(this);
#endif
#if AP_OPTICALFLOW_HEREFLOW_ENABLED
AP_OpticalFlow_HereFlow::subscribe_msgs(this);
subscribed = subscribed && AP_OpticalFlow_HereFlow::subscribe_msgs(this);
#endif
#if AP_RANGEFINDER_DRONECAN_ENABLED
AP_RangeFinder_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_RangeFinder_DroneCAN::subscribe_msgs(this);
#endif
#if AP_RCPROTOCOL_DRONECAN_ENABLED
AP_RCProtocol_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_RCProtocol_DroneCAN::subscribe_msgs(this);
#endif
#if AP_EFI_DRONECAN_ENABLED
AP_EFI_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_EFI_DroneCAN::subscribe_msgs(this);
#endif
#if AP_PROXIMITY_DRONECAN_ENABLED
AP_Proximity_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_Proximity_DroneCAN::subscribe_msgs(this);
#endif
#if HAL_MOUNT_XACTI_ENABLED
AP_Mount_Xacti::subscribe_msgs(this);
subscribed = subscribed && AP_Mount_Xacti::subscribe_msgs(this);
#endif
#if AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED
AP_TemperatureSensor_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_TemperatureSensor_DroneCAN::subscribe_msgs(this);
#endif
#if AP_RPM_DRONECAN_ENABLED
AP_RPM_DroneCAN::subscribe_msgs(this);
subscribed = subscribed && AP_RPM_DroneCAN::subscribe_msgs(this);
#endif
if (!subscribed) {
AP_BoardConfig::allocation_error("DroneCAN callback");
}
act_out_array.set_timeout_ms(5);
act_out_array.set_priority(CANARD_TRANSFER_PRIORITY_HIGH);