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AP_UAVCAN: regularise CAN pre-arm failure messages 

AP_Arming tacks on the sub-system bit.

Remove PiccoloCAN's silly nullptr check

Require the library to supply the failure message (no default message)

Remove default cases so authors know to think about places they should
add things.
This commit is contained in:
Peter Barker 2020-05-01 15:20:00 +10:00 committed by Andrew Tridgell
parent 245b962d92
commit f1f30a2fee
1 changed files with 6 additions and 8 deletions
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14
libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.cpp
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@ -646,25 +646,23 @@ void trampoline_handleAllocation(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Al
//report the server state, along with failure message if any //report the server state, along with failure message if any
bool AP_UAVCAN_DNA_Server::prearm_check(char* fail_msg, uint8_t fail_msg_len) const bool AP_UAVCAN_DNA_Server::prearm_check(char* fail_msg, uint8_t fail_msg_len) const
{ {
if (server_state == HEALTHY) {
return true;
}
switch (server_state) { switch (server_state) {
case HEALTHY:
return true;
case STORAGE_FAILURE: { case STORAGE_FAILURE: {
snprintf(fail_msg, fail_msg_len, "UC: Failed to access storage!"); snprintf(fail_msg, fail_msg_len, "Failed to access storage!");
return false; return false;
} }
case DUPLICATE_NODES: { case DUPLICATE_NODES: {
snprintf(fail_msg, fail_msg_len, "UC: Duplicate Node %s../%d!", fault_node_name, fault_node_id); snprintf(fail_msg, fail_msg_len, "Duplicate Node %s../%d!", fault_node_name, fault_node_id);
return false; return false;
} }
case FAILED_TO_ADD_NODE: { case FAILED_TO_ADD_NODE: {
snprintf(fail_msg, fail_msg_len, "UC: Failed to add Node %d!", fault_node_id); snprintf(fail_msg, fail_msg_len, "Failed to add Node %d!", fault_node_id);
return false; return false;
} }
default:
break;
} }
// should never get; compiler should enforce all server_states are covered
return false; return false;
} }