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AP_Baro: reducing indenting by linearizing the logic

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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() AP_Baro_UAVCAN::~AP_Baro_UAVCAN()
{ {
if (_initialized) { if (!_initialized) {
if (hal.can_mgr[_manager] != nullptr) { return;
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 (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_Backend *AP_Baro_UAVCAN::probe(AP_Baro &baro)
{ {
AP_Baro_UAVCAN *sensor = nullptr;
if (AP_BoardConfig_CAN::get_can_num_ifaces() != 0) { if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) { return nullptr;
if (hal.can_mgr[i] != nullptr) { }
AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
if (uavcan != nullptr) { AP_Baro_UAVCAN *sensor;
uint8_t freebaro = uavcan->find_smallest_free_baro_node(); for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
if (freebaro != UINT8_MAX) { if (hal.can_mgr[i] == nullptr) {
sensor = new AP_Baro_UAVCAN(baro); continue;
if (sensor->register_uavcan_baro(i, freebaro)) { }
debug_baro_uavcan(2, "AP_Baro_UAVCAN probed, drv: %d, node: %d\n\r", i, freebaro); AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
return sensor; if (uavcan == nullptr) {
} else { continue;
delete sensor; }
sensor = nullptr; 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 // 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) bool AP_Baro_UAVCAN::register_uavcan_baro(uint8_t mgr, uint8_t node)
{ {
if (hal.can_mgr[mgr] != nullptr) { if (hal.can_mgr[mgr] == nullptr) {
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN(); return false;
}
AP_UAVCAN *ap_uavcan = hal.can_mgr[mgr]->get_UAVCAN();
if (ap_uavcan != nullptr) { if (ap_uavcan == nullptr) {
_manager = mgr; return false;
}
_manager = mgr;
if (ap_uavcan->register_baro_listener_to_node(this, node)) if (ap_uavcan->register_baro_listener_to_node(this, node)) {
{ _instance = _frontend.register_sensor();
_instance = _frontend.register_sensor(); debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");
debug_baro_uavcan(2, "AP_Baro_UAVCAN loaded\n\r");
_initialized = true; _initialized = true;
return true; return true;
}
}
} }
return false; return false;