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AP_UAVCAN: use config error instead of panic on allocation failure

This commit is contained in:
bugobliterator 2021-09-29 13:06:41 +05:30 committed by Peter Barker
parent 224abe7933
commit b897f984a7
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
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@ -29,6 +29,7 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include "AP_UAVCAN_Clock.h" #include "AP_UAVCAN_Clock.h"
#include <AP_BoardConfig/AP_BoardConfig.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define NODEDATA_MAGIC 0xAC01 #define NODEDATA_MAGIC 0xAC01
@ -62,8 +63,7 @@ void AP_UAVCAN_DNA_Server::subscribe_msgs(AP_UAVCAN* ap_uavcan)
uavcan::Subscriber<uavcan::protocol::dynamic_node_id::Allocation, AllocationCb> *AllocationListener; uavcan::Subscriber<uavcan::protocol::dynamic_node_id::Allocation, AllocationCb> *AllocationListener;
AllocationListener = new uavcan::Subscriber<uavcan::protocol::dynamic_node_id::Allocation, AllocationCb>(*node); AllocationListener = new uavcan::Subscriber<uavcan::protocol::dynamic_node_id::Allocation, AllocationCb>(*node);
if (AllocationListener == nullptr) { if (AllocationListener == nullptr) {
AP_HAL::panic("Allocation Subscriber allocation failed\n\r"); AP_BoardConfig::allocation_error("AP_UAVCAN_DNA: AllocationListener");
return;
} }
const int alloc_listener_res = AllocationListener->start(AllocationCb(ap_uavcan, &trampoline_handleAllocation)); const int alloc_listener_res = AllocationListener->start(AllocationCb(ap_uavcan, &trampoline_handleAllocation));
if (alloc_listener_res < 0) { if (alloc_listener_res < 0) {
@ -77,8 +77,7 @@ void AP_UAVCAN_DNA_Server::subscribe_msgs(AP_UAVCAN* ap_uavcan)
uavcan::Subscriber<uavcan::protocol::NodeStatus, NodeStatusCb> *NodeStatusListener; uavcan::Subscriber<uavcan::protocol::NodeStatus, NodeStatusCb> *NodeStatusListener;
NodeStatusListener = new uavcan::Subscriber<uavcan::protocol::NodeStatus, NodeStatusCb>(*node); NodeStatusListener = new uavcan::Subscriber<uavcan::protocol::NodeStatus, NodeStatusCb>(*node);
if (NodeStatusListener == nullptr) { if (NodeStatusListener == nullptr) {
AP_HAL::panic("NodeStatus Subscriber allocation failed\n\r"); AP_BoardConfig::allocation_error("AP_UAVCAN_DNA: NodeStatusListener");
return;
} }
const int nodestatus_listener_res = NodeStatusListener->start(NodeStatusCb(ap_uavcan, &trampoline_handleNodeStatus)); const int nodestatus_listener_res = NodeStatusListener->start(NodeStatusCb(ap_uavcan, &trampoline_handleNodeStatus));
if (nodestatus_listener_res < 0) { if (nodestatus_listener_res < 0) {