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AP_Baro: adjust handling of instance/driver arrays to use ARRAY_SIZE … #31300

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AP_Baro: adjust handling of instance/driver arrays to use ARRAY_SIZE … #31300

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12 changes: 6 additions & 6 deletions libraries/AP_Baro/AP_Baro.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -492,7 +492,7 @@ bool AP_Baro::_add_backend(AP_Baro_Backend *backend)
if (!backend) {
return false;
}
if (_num_drivers >= BARO_MAX_DRIVERS) {
if (_num_drivers >= ARRAY_SIZE(drivers)) {
AP_HAL::panic("Too many barometer drivers");
}
drivers[_num_drivers++] = backend;
Expand Down Expand Up @@ -520,8 +520,8 @@ bool AP_Baro::_have_i2c_driver(uint8_t bus, uint8_t address) const
*/
#define ADD_BACKEND(backend) \
do { _add_backend(backend); \
if (_num_drivers == BARO_MAX_DRIVERS || \
_num_sensors == BARO_MAX_INSTANCES) { \
if (_num_drivers == ARRAY_SIZE(drivers) || \
_num_sensors == ARRAY_SIZE(sensors)) { \
return; \
} \
} while (0)
Expand All @@ -542,8 +542,8 @@ void AP_Baro::init(void)
}

// zero bus IDs before probing
for (uint8_t i = 0; i < BARO_MAX_INSTANCES; i++) {
sensors[i].bus_id.set(0);
for (auto &sensor : sensors) {
sensor.bus_id.set(0);
}

#if AP_SIM_BARO_ENABLED
Expand Down Expand Up @@ -975,7 +975,7 @@ float AP_Baro::thrust_pressure_correction(uint8_t instance)
*/
uint8_t AP_Baro::register_sensor(void)
{
if (_num_sensors >= BARO_MAX_INSTANCES) {
if (_num_sensors >= ARRAY_SIZE(sensors)) {
AP_HAL::panic("Too many barometers");
}
return _num_sensors++;
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Baro/AP_Baro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -285,7 +285,7 @@ class AP_Baro
};
#endif

struct sensor {
struct {
uint32_t last_update_ms; // last update time in ms
uint32_t last_change_ms; // last update time in ms that included a change in reading from previous readings
float pressure; // pressure in Pascal
Expand Down
42 changes: 21 additions & 21 deletions libraries/AP_Baro/AP_Baro_DroneCAN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,32 +35,32 @@ AP_Baro_Backend* AP_Baro_DroneCAN::probe(AP_Baro &baro)
WITH_SEMAPHORE(_sem_registry);

AP_Baro_DroneCAN* backend = nullptr;
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) {
for (auto &detected_module : _detected_modules) {
if (detected_module.driver == nullptr && detected_module.ap_dronecan != nullptr) {
backend = NEW_NOTHROW AP_Baro_DroneCAN(baro);
if (backend == nullptr) {
AP::can().log_text(AP_CANManager::LOG_ERROR,
LOG_TAG,
"Failed register DroneCAN Baro Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_dronecan->get_driver_index());
detected_module.node_id,
detected_module.ap_dronecan->get_driver_index());
} else {
_detected_modules[i].driver = backend;
detected_module.driver = backend;
backend->_pressure = 0;
backend->_pressure_count = 0;
backend->_ap_dronecan = _detected_modules[i].ap_dronecan;
backend->_node_id = _detected_modules[i].node_id;
backend->_ap_dronecan = detected_module.ap_dronecan;
backend->_node_id = detected_module.node_id;

backend->_instance = backend->_frontend.register_sensor();
backend->set_bus_id(backend->_instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
_detected_modules[i].ap_dronecan->get_driver_index(),
detected_module.ap_dronecan->get_driver_index(),
backend->_node_id, 0));

AP::can().log_text(AP_CANManager::LOG_INFO,
LOG_TAG,
"Registered DroneCAN Baro Node %d on Bus %d\n",
_detected_modules[i].node_id,
_detected_modules[i].ap_dronecan->get_driver_index());
detected_module.node_id,
detected_module.ap_dronecan->get_driver_index());
}
break;
}
Expand All @@ -73,29 +73,29 @@ AP_Baro_DroneCAN* AP_Baro_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_droneca
if (ap_dronecan == nullptr) {
return nullptr;
}
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
if (_detected_modules[i].driver != nullptr &&
_detected_modules[i].ap_dronecan == ap_dronecan &&
_detected_modules[i].node_id == node_id) {
return _detected_modules[i].driver;
for (auto &detected_module : _detected_modules) {
if (detected_module.driver != nullptr &&
detected_module.ap_dronecan == ap_dronecan &&
detected_module.node_id == node_id) {
return detected_module.driver;
}
}

if (create_new) {
bool already_detected = false;
//Check if there's an empty spot for possible registration
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) {
for (auto &detected_module : _detected_modules) {
if (detected_module.ap_dronecan == ap_dronecan && detected_module.node_id == node_id) {
//Already Detected
already_detected = true;
break;
}
}
if (!already_detected) {
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
if (_detected_modules[i].ap_dronecan == nullptr) {
_detected_modules[i].ap_dronecan = ap_dronecan;
_detected_modules[i].node_id = node_id;
for (auto &detected_module : _detected_modules) {
if (detected_module.ap_dronecan == nullptr) {
detected_module.ap_dronecan = ap_dronecan;
detected_module.node_id = node_id;
break;
}
}
Expand Down
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