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AP_Airspeed: optimize DroneCAN subscription process 

* remove unnecessary nullptr check, these are always called from an
  initialized AP_DroneCAN so if it's nullptr something has gone
  horrifically wrong

* pass in driver index instead of repeatedly calling function to get it

* simplify error handling; knowing exactly which allocation failed is not
  super helpful and one failing likely means subsequent ones will too,
  as it can only fail due to being out of memory
This commit is contained in:
Thomas Watson 2024-11-16 21:21:13 -06:00 committed by Andrew Tridgell
parent 5874337df7
commit cd1118acb4
2 changed files with 6 additions and 12 deletions
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16
libraries/AP_Airspeed/AP_Airspeed_DroneCAN.cpp
View File

@ -13,21 +13,15 @@ extern const AP_HAL::HAL& hal;
AP_Airspeed_DroneCAN::DetectedModules AP_Airspeed_DroneCAN::_detected_modules[];
HAL_Semaphore AP_Airspeed_DroneCAN::_sem_registry;
void AP_Airspeed_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
bool AP_Airspeed_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_dronecan == nullptr) {
return;
}
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_airspeed, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("airspeed_sub");
}
const auto driver_index = ap_dronecan->get_driver_index();
return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_airspeed, driver_index) != nullptr)
#if AP_AIRSPEED_HYGROMETER_ENABLE
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_hygrometer, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("hygrometer_sub");
}
&& (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_hygrometer, driver_index) != nullptr)
#endif
;
}
AP_Airspeed_Backend* AP_Airspeed_DroneCAN::probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid)

2
libraries/AP_Airspeed/AP_Airspeed_DroneCAN.h
View File

@ -26,7 +26,7 @@ public:
bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) override;
#endif
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
static AP_Airspeed_Backend* probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid);