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AP_Beacon: combine duplicate checks into device_ready method

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murata 2016-12-10 02:33:25 +09:00 committed by Randy Mackay
parent 3551609a21
commit 6045612011
2 changed files with 17 additions and 7 deletions
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20
libraries/AP_Beacon/AP_Beacon.cpp
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@ -103,7 +103,7 @@ bool AP_Beacon::enabled(void)
// return true if sensor is basically healthy (we are receiving data) // return true if sensor is basically healthy (we are receiving data)
bool AP_Beacon::healthy(void) bool AP_Beacon::healthy(void)
{ {
if (_driver == nullptr || _type == AP_BeaconType_None) { if (!device_ready()) {
return false; return false;
} }
return _driver->healthy(); return _driver->healthy();
@ -112,7 +112,7 @@ bool AP_Beacon::healthy(void)
// update state. This should be called often from the main loop // update state. This should be called often from the main loop
void AP_Beacon::update(void) void AP_Beacon::update(void)
{ {
if (_driver == nullptr || _type == AP_BeaconType_None) { if (!device_ready()) {
return; return;
} }
_driver->update(); _driver->update();
@ -121,7 +121,7 @@ void AP_Beacon::update(void)
// return origin of position estimate system // return origin of position estimate system
bool AP_Beacon::get_origin(Location &origin_loc) const bool AP_Beacon::get_origin(Location &origin_loc) const
{ {
if (_driver == nullptr || _type == AP_BeaconType_None) { if (!device_ready()) {
return false; return false;
} }
@ -142,7 +142,7 @@ bool AP_Beacon::get_origin(Location &origin_loc) const
// return position in NED from position estimate system's origin // return position in NED from position estimate system's origin
bool AP_Beacon::get_vehicle_position_ned(Vector3f &position, float& accuracy_estimate) const bool AP_Beacon::get_vehicle_position_ned(Vector3f &position, float& accuracy_estimate) const
{ {
if (_driver == nullptr || _type == AP_BeaconType_None) { if (!device_ready()) {
return false; return false;
} }
@ -160,7 +160,7 @@ bool AP_Beacon::get_vehicle_position_ned(Vector3f &position, float& accuracy_est
// return the number of beacons // return the number of beacons
uint8_t AP_Beacon::count() const uint8_t AP_Beacon::count() const
{ {
if (_driver == nullptr || _type == AP_BeaconType_None) { if (!device_ready()) {
return 0; return 0;
} }
return num_beacons; return num_beacons;
@ -169,7 +169,7 @@ uint8_t AP_Beacon::count() const
// return all beacon data // return all beacon data
bool AP_Beacon::get_beacon_data(uint8_t beacon_instance, struct BeaconState& state) const bool AP_Beacon::get_beacon_data(uint8_t beacon_instance, struct BeaconState& state) const
{ {
if (_driver == nullptr || _type == AP_BeaconType_None || beacon_instance >= num_beacons) { if (!device_ready() || beacon_instance >= num_beacons) {
return false; return false;
} }
state = beacon_state[beacon_instance]; state = beacon_state[beacon_instance];
@ -206,7 +206,7 @@ float AP_Beacon::beacon_distance(uint8_t beacon_instance) const
// return beacon position // return beacon position
Vector3f AP_Beacon::beacon_position(uint8_t beacon_instance) const Vector3f AP_Beacon::beacon_position(uint8_t beacon_instance) const
{ {
if (_driver == nullptr || _type == AP_BeaconType_None || beacon_instance >= num_beacons) { if (!device_ready() || beacon_instance >= num_beacons) {
Vector3f temp = {}; Vector3f temp = {};
return temp; return temp;
} }
@ -221,3 +221,9 @@ uint32_t AP_Beacon::beacon_last_update_ms(uint8_t beacon_instance) const
} }
return beacon_state[beacon_instance].distance_update_ms; return beacon_state[beacon_instance].distance_update_ms;
} }
// check if the device is ready
bool AP_Beacon::device_ready(void) const
{
return ((_driver != nullptr) && (_type != AP_BeaconType_None));
}

4
libraries/AP_Beacon/AP_Beacon.h
View File

@ -92,6 +92,10 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
// check if device is ready
bool device_ready(void) const;
// parameters // parameters
AP_Int8 _type; AP_Int8 _type;
AP_Float origin_lat; AP_Float origin_lat;