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AP_Compass: reducing indenting by linearizing the logic

This commit is contained in:
Eugene Shamaev 2018-03-09 10:32:16 +02:00 committed by Tom Pittenger
parent 857bd4f775
commit baa6daf270
1 changed files with 37 additions and 30 deletions
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45
libraries/AP_Compass/AP_Compass_UAVCAN.cpp
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@ -44,45 +44,52 @@ AP_Compass_UAVCAN::AP_Compass_UAVCAN(Compass &compass):
AP_Compass_UAVCAN::~AP_Compass_UAVCAN()
{
if (_initialized)
{
if (hal.can_mgr[_manager] != nullptr) {
if (!_initialized) {
return;
}
if (hal.can_mgr[_manager] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
if (ap_uavcan != nullptr) {
ap_uavcan->remove_mag_listener(this);
if (ap_uavcan == nullptr) {
return;
}
ap_uavcan->remove_mag_listener(this);
debug_mag_uavcan(2, "AP_Compass_UAVCAN destructed\n\r");
}
}
}
}
AP_Compass_Backend *AP_Compass_UAVCAN::probe(Compass &compass)
{
AP_Compass_UAVCAN *sensor = nullptr;
if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
return nullptr;
}
AP_Compass_UAVCAN *sensor;
if (AP_BoardConfig_CAN::get_can_num_ifaces() != 0) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] != nullptr) {
if (hal.can_mgr[i] == nullptr) {
continue;
}
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan != nullptr) {
if (uavcan == nullptr) {
continue;
}
uint8_t freemag = uavcan->find_smallest_free_mag_node();
if (freemag != UINT8_MAX) {
if (freemag == UINT8_MAX) {
continue;
}
sensor = new AP_Compass_UAVCAN(compass);
if (sensor->register_uavcan_compass(i, freemag)) {
debug_mag_uavcan(2, "AP_Compass_UAVCAN probed, drv: %d, node: %d\n\r", i, freemag);
return sensor;
} else {
delete sensor;
sensor = nullptr;
}
}
}
}
}
}
return sensor;
return nullptr;
}
bool AP_Compass_UAVCAN::register_uavcan_compass(uint8_t mgr, uint8_t node)