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Adjustments to code and optimisations

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This commit is contained in:
John Wellbelove 2021-04-25 15:11:02 +01:00
parent 86edd1a504
commit 43d16b1034
1 changed files with 7 additions and 8 deletions
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15
include/etl/hfsm.h
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@ -53,7 +53,7 @@ namespace etl
using fsm::receive;
//*******************************************
/// Top level message handler for the FSM.
/// Top level message handler for the HFSM.
//*******************************************
void receive(const etl::imessage& message) ETL_OVERRIDE
{
@ -93,17 +93,17 @@ namespace etl
size_t depth1 = get_depth(p1);
size_t depth2 = get_depth(p2);
// Align p1 and p2 to the same depth.
// Adjust p1 and p2 to the same depth.
if (depth1 > depth2)
{
p1 = align_depth(p1, depth1 - depth2);
p1 = adjust_depth(p1, depth1 - depth2);
}
else
{
p2 = align_depth(p2, depth2 - depth1);
p2 = adjust_depth(p2, depth2 - depth1);
}
// Now they're aligned they can step towards the root together.
// Now they're aligned to the same depth they can step towards the root together.
while (p1 != p2)
{
p1 = p1->p_parent;
@ -132,7 +132,7 @@ namespace etl
//*******************************************
/// Align the depths of the states.
//*******************************************
static etl::ifsm_state* align_depth(etl::ifsm_state* p, size_t offset)
static etl::ifsm_state* adjust_depth(etl::ifsm_state* p, size_t offset)
{
while (offset != 0U)
{
@ -151,8 +151,7 @@ namespace etl
ETL_ASSERT(p_target != ETL_NULLPTR, ETL_ERROR(etl::fsm_null_state_exception));
// We need to go recursively up the tree if the target and root don't match
if ((p_root != p_target) &&
(p_target->p_parent != ETL_NULLPTR))
if ((p_root != p_target) && (p_target->p_parent != ETL_NULLPTR))
{
if (p_target->p_parent != p_root)
{