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AP_Baro: reducing indenting by linearizing the logic

This commit is contained in:
Eugene Shamaev 2018-03-09 10:31:42 +02:00 committed by Tom Pittenger
parent a805b3ce18
commit f8da16d11a
1 changed files with 49 additions and 40 deletions
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89
libraries/AP_Baro/AP_Baro_UAVCAN.cpp
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@ -28,43 +28,51 @@ AP_Baro_UAVCAN::AP_Baro_UAVCAN(AP_Baro &baro) :
AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
{
if (_initialized) {
if (hal.can_mgr[_manager] != nullptr) {
AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
if (ap_uavcan != nullptr) {
ap_uavcan->remove_baro_listener(this);
debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
}
}
if (!_initialized) {
return;
}
if (hal.can_mgr[_manager] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
if (ap_uavcan == nullptr) {
return;
}
ap_uavcan->remove_baro_listener(this);
debug_baro_uavcan(2, "AP_Baro_UAVCAN destructed\n\r");
}
AP_Baro_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
{
AP_Baro_UAVCAN *sensor = nullptr;
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) {
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan != nullptr) {
uint8_t freebaro = uavcan->find_smallest_free_baro_node();
if (freebaro != UINT8_MAX) {
sensor = new AP_Baro_UAVCAN(baro);
if (sensor->register_uavcan_baro(i, freebaro)) {
debug_baro_uavcan(2, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
return sensor;
} else {
delete sensor;
sensor = nullptr;
}
}
}
}
if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
return nullptr;
}
AP_Baro_UAVCAN *sensor;
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (hal.can_mgr[i] == nullptr) {
continue;
}
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan == nullptr) {
continue;
}
uint8_t freebaro = uavcan->find_smallest_free_baro_node();
if (freebaro == UINT8_MAX) {
continue;
}
sensor = new AP_Baro_UAVCAN(baro);
if (sensor->register_uavcan_baro(i, freebaro)) {
debug_baro_uavcan(2, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro);
return sensor;
} else {
delete sensor;
}
}
return sensor;
return nullptr;
}
// Read the sensor
@ -90,22 +98,23 @@ void AP_Baro_UAVCAN::handle_baro_msg(float pressure, float temperature)
bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node)
{
if (hal.can_mgr[mgr] != nullptr) {
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
if (hal.can_mgr[mgr] == nullptr) {
return false;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
if (ap_uavcan != nullptr) {
_manager = mgr;
if (ap_uavcan == nullptr) {
return false;
}
_manager = mgr;
if (ap_uavcan->register_baro_listener_to_node(this, node))
{
_instance = _frontend.register_sensor();
debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");
if (ap_uavcan->register_baro_listener_to_node(this, node)) {
_instance = _frontend.register_sensor();
debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");
_initialized = true;
_initialized = true;
return true;
}
}
return true;
}
return false;