From def199e61f443b5cb72f2cfbf8b245c453e19858 Mon Sep 17 00:00:00 2001 From: Thomas Watson Date: Sat, 16 Nov 2024 21:21:13 -0600 Subject: [PATCH] AP_Baro: 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 --- libraries/AP_Baro/AP_Baro_DroneCAN.cpp | 15 +++++---------- libraries/AP_Baro/AP_Baro_DroneCAN.h | 2 +- 2 files changed, 6 insertions(+), 11 deletions(-) diff --git a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp index e171aab4a6..07975e1082 100644 --- a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp +++ b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp @@ -21,18 +21,13 @@ AP_Baro_DroneCAN::AP_Baro_DroneCAN(AP_Baro &baro) : AP_Baro_Backend(baro) {} -void AP_Baro_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan) +bool AP_Baro_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan) { - if (ap_dronecan == nullptr) { - return; - } - if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_pressure, ap_dronecan->get_driver_index()) == nullptr) { - AP_BoardConfig::allocation_error("pressure_sub"); - } + const auto driver_index = ap_dronecan->get_driver_index(); - if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_temperature, ap_dronecan->get_driver_index()) == nullptr) { - AP_BoardConfig::allocation_error("temperature_sub"); - } + return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_pressure, driver_index) != nullptr) + && (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_temperature, driver_index) != nullptr) + ; } AP_Baro_Backend* AP_Baro_DroneCAN::probe(AP_Baro &baro) diff --git a/libraries/AP_Baro/AP_Baro_DroneCAN.h b/libraries/AP_Baro/AP_Baro_DroneCAN.h index 3040b97ab6..5aa3a1fa4c 100644 --- a/libraries/AP_Baro/AP_Baro_DroneCAN.h +++ b/libraries/AP_Baro/AP_Baro_DroneCAN.h @@ -15,7 +15,7 @@ public: void update() override; - static void subscribe_msgs(AP_DroneCAN* ap_dronecan); + static bool subscribe_msgs(AP_DroneCAN* ap_dronecan); static AP_Baro_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new); static AP_Baro_Backend* probe(AP_Baro &baro);