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AP_Notify: Move driver deletion to backend creation macro

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Creates a dense array of drivers we want to update, reduces runtime
overhead, allows us to try detecting more backends then are present
This commit is contained in:
Michael du Breuil 2018-06-26 10:50:11 -07:00 committed by Andrew Tridgell
parent 8e8e9a5a58
commit abda44e886
2 changed files with 15 additions and 11 deletions
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24
libraries/AP_Notify/AP_Notify.cpp
View File

@ -114,7 +114,19 @@ struct AP_Notify::notify_events_type AP_Notify::events;
NotifyDevice *AP_Notify::_devices[CONFIG_NOTIFY_DEVICES_MAX];
uint8_t AP_Notify::_num_devices;
#define ADD_BACKEND(backend) do { _devices[_num_devices++] = backend; if (_num_devices >= CONFIG_NOTIFY_DEVICES_MAX) return;} while(0)
void AP_Notify::add_backend_helper(NotifyDevice *backend)
{
_devices[_num_devices] = backend;
_devices[_num_devices]->pNotify = this;
if(!_devices[_num_devices]->init()) {
delete _devices[_num_devices];
_devices[_num_devices] = nullptr;
} else {
_num_devices++;
}
}
#define ADD_BACKEND(backend) do { add_backend_helper(backend); if (_num_devices >= CONFIG_NOTIFY_DEVICES_MAX) return;} while(0)
// add notify backends to _devices array
void AP_Notify::add_backends(void)
@ -267,16 +279,6 @@ void AP_Notify::init(bool enable_external_leds)
// add all the backends
add_backends();
for (uint8_t i = 0; i < _num_devices; i++) {
if (_devices[i] != nullptr) {
_devices[i]->pNotify = this;
if(!_devices[i]->init()) {
delete _devices[i];
_devices[i] = nullptr;
}
}
}
}
// main update function, called at 50Hz

2
libraries/AP_Notify/AP_Notify.h
View File

@ -150,6 +150,8 @@ private:
static AP_Notify *_instance;
void add_backend_helper(NotifyDevice *backend);
// parameters
AP_Int8 _rgb_led_brightness;
AP_Int8 _rgb_led_override;