mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_Linux: reducing indenting by linearizing the logic
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@ -83,7 +83,10 @@ static uavcan::CanFrame makeUavcanFrame(const can_frame& sockcan_frame)
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bool CAN::begin(uint32_t bitrate)
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bool CAN::begin(uint32_t bitrate)
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{
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{
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if (_initialized) return _initialized;
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if (_initialized) {
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return _initialized;
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}
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// TODO: Add possibility change bitrate
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// TODO: Add possibility change bitrate
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_fd = openSocket(HAL_BOARD_CAN_IFACE_NAME);
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_fd = openSocket(HAL_BOARD_CAN_IFACE_NAME);
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if (_fd > 0) {
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if (_fd > 0) {
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@ -537,15 +540,16 @@ int16_t CANManager::select(uavcan::CanSelectMasks& inout_masks,
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IfaceWrapper* pollfd_index_to_iface[uavcan::MaxCanIfaces] = {};
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IfaceWrapper* pollfd_index_to_iface[uavcan::MaxCanIfaces] = {};
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for (unsigned i = 0; i < _ifaces.size(); i++) {
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for (unsigned i = 0; i < _ifaces.size(); i++) {
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if (!_ifaces[i]->isDown()) {
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if (_ifaces[i]->isDown()) {
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pollfds[num_pollfds].fd = _ifaces[i]->getFileDescriptor();
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continue;
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pollfds[num_pollfds].events = POLLIN;
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if (_ifaces[i]->hasReadyTx() || (inout_masks.write & (1U << i))) {
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pollfds[num_pollfds].events |= POLLOUT;
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}
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pollfd_index_to_iface[num_pollfds] = _ifaces[i].get();
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num_pollfds++;
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}
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}
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pollfds[num_pollfds].fd = _ifaces[i]->getFileDescriptor();
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pollfds[num_pollfds].events = POLLIN;
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if (_ifaces[i]->hasReadyTx() || (inout_masks.write & (1U << i))) {
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pollfds[num_pollfds].events |= POLLOUT;
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}
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pollfd_index_to_iface[num_pollfds] = _ifaces[i].get();
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num_pollfds++;
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}
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}
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if (num_pollfds == 0) {
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if (num_pollfds == 0) {
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