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AP_Module: use ifdef in function, not caller

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suggestion by Lucas
This commit is contained in:
Andrew Tridgell 2016-07-14 11:39:54 +10:00
parent eee9fc88a1
commit 7d48b25207
1 changed files with 14 additions and 4 deletions
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10
libraries/AP_Module/AP_Module.cpp
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@ -102,11 +102,13 @@ void AP_Module::init(const char *module_path)
*/
void AP_Module::call_hook_setup_start(void)
{
#if AP_MODULE_SUPPORTED
uint64_t now = AP_HAL::micros64();
for (const struct hook_list *h=hooks[HOOK_SETUP_START]; h; h=h->next) {
ap_hook_setup_start_fn_t fn = reinterpret_cast<ap_hook_setup_start_fn_t>(h->symbol);
fn(now);
}
#endif
}
/*
@ -114,11 +116,13 @@ void AP_Module::call_hook_setup_start(void)
*/
void AP_Module::call_hook_setup_complete(void)
{
#if AP_MODULE_SUPPORTED
uint64_t now = AP_HAL::micros64();
for (const struct hook_list *h=hooks[HOOK_SETUP_COMPLETE]; h; h=h->next) {
ap_hook_setup_complete_fn_t fn = reinterpret_cast<ap_hook_setup_complete_fn_t>(h->symbol);
fn(now);
}
#endif
}
/*
@ -126,6 +130,7 @@ void AP_Module::call_hook_setup_complete(void)
*/
void AP_Module::call_hook_AHRS_update(const AP_AHRS_NavEKF &ahrs)
{
#if AP_MODULE_SUPPORTED
if (hooks[HOOK_AHRS_UPDATE] == nullptr) {
// avoid filling in AHRS_state
return;
@ -193,6 +198,7 @@ void AP_Module::call_hook_AHRS_update(const AP_AHRS_NavEKF &ahrs)
ap_hook_AHRS_update_fn_t fn = reinterpret_cast<ap_hook_AHRS_update_fn_t>(h->symbol);
fn(&state);
}
#endif
}
@ -201,6 +207,7 @@ void AP_Module::call_hook_AHRS_update(const AP_AHRS_NavEKF &ahrs)
*/
void AP_Module::call_hook_gyro_sample(uint8_t instance, float dt, const Vector3f &gyro)
{
#if AP_MODULE_SUPPORTED
if (hooks[HOOK_GYRO_SAMPLE] == nullptr) {
// avoid filling in struct
return;
@ -222,6 +229,7 @@ void AP_Module::call_hook_gyro_sample(uint8_t instance, float dt, const Vector3f
ap_hook_gyro_sample_fn_t fn = reinterpret_cast<ap_hook_gyro_sample_fn_t>(h->symbol);
fn(&state);
}
#endif
}
/*
@ -229,6 +237,7 @@ void AP_Module::call_hook_gyro_sample(uint8_t instance, float dt, const Vector3f
*/
void AP_Module::call_hook_accel_sample(uint8_t instance, float dt, const Vector3f &accel)
{
#if AP_MODULE_SUPPORTED
if (hooks[HOOK_ACCEL_SAMPLE] == nullptr) {
// avoid filling in struct
return;
@ -250,4 +259,5 @@ void AP_Module::call_hook_accel_sample(uint8_t instance, float dt, const Vector3
ap_hook_accel_sample_fn_t fn = reinterpret_cast<ap_hook_accel_sample_fn_t>(h->symbol);
fn(&state);
}
#endif
}