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AP_Periph: remove return res from canard_broadcast

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bugobliterator 2021-07-11 21:15:33 +05:30 committed by Andrew Tridgell
parent 64c41e51ba
commit a9fda29d42
1 changed files with 8 additions and 20 deletions
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28
Tools/AP_Periph/can.cpp
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@ -374,7 +374,7 @@ static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* tr
total_size); total_size);
} }
static int16_t canard_broadcast(uint64_t data_type_signature, static void canard_broadcast(uint64_t data_type_signature,
uint16_t data_type_id, uint16_t data_type_id,
uint8_t priority, uint8_t priority,
const void* payload, const void* payload,
@ -1015,31 +1015,24 @@ static void cleanup_stale_transactions(uint64_t &timestamp_usec)
} }
} }
static int16_t canard_broadcast(uint64_t data_type_signature, static void canard_broadcast(uint64_t data_type_signature,
uint16_t data_type_id, uint16_t data_type_id,
uint8_t priority, uint8_t priority,
const void* payload, const void* payload,
uint16_t payload_len) uint16_t payload_len)
{ {
int16_t cache = -1;
bool success = false;
for (auto &ins : instances) { for (auto &ins : instances) {
if (canardGetLocalNodeID(&ins.canard) == CANARD_BROADCAST_NODE_ID) { if (canardGetLocalNodeID(&ins.canard) == CANARD_BROADCAST_NODE_ID) {
continue; continue;
} }
cache = canardBroadcast(&ins.canard, canardBroadcast(&ins.canard,
data_type_signature, data_type_signature,
data_type_id, data_type_id,
&ins.transfer_id, &ins.transfer_id,
priority, priority,
payload, payload,
payload_len); payload_len);
if (cache == 0) {
// we had atleast one interface where transaction was successful
success = true;
}
} }
return success?0:cache;
} }
static void processTx(void) static void processTx(void)
@ -1126,16 +1119,11 @@ static void node_status_send(void)
uint32_t len = uavcan_protocol_NodeStatus_encode(&node_status, buffer); uint32_t len = uavcan_protocol_NodeStatus_encode(&node_status, buffer);
const int16_t bc_res = canard_broadcast(UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE, canard_broadcast(UAVCAN_PROTOCOL_NODESTATUS_SIGNATURE,
UAVCAN_PROTOCOL_NODESTATUS_ID, UAVCAN_PROTOCOL_NODESTATUS_ID,
CANARD_TRANSFER_PRIORITY_LOW, CANARD_TRANSFER_PRIORITY_LOW,
buffer, buffer,
len); len);
if (bc_res <= 0) {
printf("broadcast fail %d\n", bc_res);
} else {
//printf("broadcast node status OK\n");
}
} }