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AC_Fence: add prearm check if fences enabled but none selected #17458

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merged 1 commit into from May 25, 2021
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AC_Fence: add prearm check if fences enabled but none selected #17458

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6 changes: 6 additions & 0 deletions libraries/AC_Fence/AC_Fence.cpp
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Expand Up @@ -282,6 +282,12 @@ bool AC_Fence::pre_arm_check(const char* &fail_msg) const
{
fail_msg = nullptr;

// if fences are enabled but none selected fail pre-arm check
if (enabled() && !present()) {
fail_msg = "Fences enabled, but none selected";
return false;
}

// if not enabled or not fence set-up always return true
if ((!_enabled && !_auto_enabled) || !_enabled_fences) {
return true;
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