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AP_UAVCAN: helper func

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This commit is contained in:
Eugene Shamaev 2018-03-11 11:50:05 +02:00 committed by Tom Pittenger
parent baa6daf270
commit 71791d22cd
1 changed files with 14 additions and 28 deletions
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42
libraries/AP_UAVCAN/AP_UAVCAN.cpp
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@ -88,13 +88,11 @@ const AP_Param::GroupInfo AP_UAVCAN::var_info[] = {
static void gnss_fix_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Fix>& msg, uint8_t mgr)
{
if (hal.can_mgr[mgr] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
if (ap_uavcan == nullptr) {
return;
}
AP_GPS::GPS_State *state = ap_uavcan->find_gps_node(msg.getSrcNodeID().get());
if (state == nullptr) {
return;
@ -200,13 +198,11 @@ static void (*gnss_fix_cb_arr[2])(const uavcan::ReceivedDataStructure<uavcan::eq
static void gnss_aux_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::gnss::Auxiliary>& msg, uint8_t mgr)
{
if (hal.can_mgr[mgr] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
if (ap_uavcan == nullptr) {
return;
}
AP_GPS::GPS_State *state = ap_uavcan->find_gps_node(msg.getSrcNodeID().get());
if (state == nullptr) {
return;
@ -230,13 +226,11 @@ static void (*gnss_aux_cb_arr[2])(const uavcan::ReceivedDataStructure<uavcan::eq
static void magnetic_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength>& msg, uint8_t mgr)
{
if (hal.can_mgr[mgr] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
if (ap_uavcan == nullptr) {
return;
}
AP_UAVCAN::Mag_Info *state = ap_uavcan->find_mag_node(msg.getSrcNodeID().get(), 0);
if (state == nullptr) {
return;
@ -259,13 +253,11 @@ static void (*magnetic_cb_arr[2])(const uavcan::ReceivedDataStructure<uavcan::eq
static void magnetic_cb_2(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength2>& msg, uint8_t mgr)
{
if (hal.can_mgr[mgr] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
if (ap_uavcan == nullptr) {
return;
}
AP_UAVCAN::Mag_Info *state = ap_uavcan->find_mag_node(msg.getSrcNodeID().get(), msg.sensor_id);
if (state == nullptr) {
return;
@ -288,13 +280,11 @@ static void (*magnetic_cb_2_arr[2])(const uavcan::ReceivedDataStructure<uavcan::
static void air_data_sp_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticPressure>& msg, uint8_t mgr)
{
if (hal.can_mgr[mgr] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
if (ap_uavcan == nullptr) {
return;
}
AP_UAVCAN::Baro_Info *state = ap_uavcan->find_baro_node(msg.getSrcNodeID().get());
if (state == nullptr) {
return;
@ -317,13 +307,11 @@ static void (*air_data_sp_cb_arr[2])(const uavcan::ReceivedDataStructure<uavcan:
// Temperature is not main parameter so do not update listeners when it is received
static void air_data_st_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::air_data::StaticTemperature>& msg, uint8_t mgr)
{
if (hal.can_mgr[mgr] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
if (ap_uavcan == nullptr) {
return;
}
AP_UAVCAN::Baro_Info *state = ap_uavcan->find_baro_node(msg.getSrcNodeID().get());
if (state == nullptr) {
return;
@ -342,13 +330,11 @@ static void (*air_data_st_cb_arr[2])(const uavcan::ReceivedDataStructure<uavcan:
static void battery_info_st_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo>& msg, uint8_t mgr)
{
if (hal.can_mgr[mgr] == nullptr) {
return;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(mgr);
if (ap_uavcan == nullptr) {
return;
}
AP_UAVCAN::BatteryInfo_Info *state = ap_uavcan->find_bi_id((uint16_t) msg.battery_id);
if (state == nullptr) {
return;