From 857bd4f775def7f07d628244fbac3a21a64e28ed Mon Sep 17 00:00:00 2001 From: Eugene Shamaev Date: Fri, 9 Mar 2018 10:32:05 +0200 Subject: [PATCH] AP_BoardConfig: reducing indenting by linearizing the logic --- .../AP_BoardConfig/AP_BoardConfig_CAN.cpp | 38 +++++++++---------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp index 1065457f32..5c94f5b384 100644 --- a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp +++ b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp @@ -127,29 +127,29 @@ void AP_BoardConfig_CAN::setup_canbus(void) if (initret) { for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) { - if (hal.can_mgr[i] != nullptr) { - hal.can_mgr[i]->initialized(true); - printf("can_mgr %d initialized well\n\r", i + 1); + if (hal.can_mgr[i] == nullptr) { + continue; + } + hal.can_mgr[i]->initialized(true); + printf("can_mgr %d initialized well\n\r", i + 1); - if (_var_info_can_protocol[i]._protocol == UAVCAN_PROTOCOL_ENABLE) { - _var_info_can_protocol[i]._uavcan = new AP_UAVCAN; + if (_var_info_can_protocol[i]._protocol == UAVCAN_PROTOCOL_ENABLE) { + _var_info_can_protocol[i]._uavcan = new AP_UAVCAN; - if (_var_info_can_protocol[i]._uavcan != nullptr) - { - AP_Param::load_object_from_eeprom(_var_info_can_protocol[i]._uavcan, AP_UAVCAN::var_info); + if (_var_info_can_protocol[i]._uavcan == nullptr) { + AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1); + continue; + } + + AP_Param::load_object_from_eeprom(_var_info_can_protocol[i]._uavcan, AP_UAVCAN::var_info); - hal.can_mgr[i]->set_UAVCAN(_var_info_can_protocol[i]._uavcan); - _var_info_can_protocol[i]._uavcan->set_parent_can_mgr(hal.can_mgr[i]); + hal.can_mgr[i]->set_UAVCAN(_var_info_can_protocol[i]._uavcan); + _var_info_can_protocol[i]._uavcan->set_parent_can_mgr(hal.can_mgr[i]); - if (_var_info_can_protocol[i]._uavcan->try_init() == true) { - any_uavcan_present = true; - } else { - printf("Failed to initialize uavcan interface %d\n\r", i + 1); - } - - } else { - AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1); - } + if (_var_info_can_protocol[i]._uavcan->try_init() == true) { + any_uavcan_present = true; + } else { + printf("Failed to initialize uavcan interface %d\n\r", i + 1); } } }