pybricks/util_mp: Use args None test.

Since this is done in quite a few functions, this should make the build size smaller and the code easier to follow.

Author: laurensvalk

pybricks/common/pb_type_control.c

@@ -95,7 +95,7 @@ static mp_obj_t pb_type_Control_limits(size_t n_args, const mp_obj_t *pos_args,
     torque = pbio_control_settings_get_actuation_limit(&self->control->settings);
 
     // If all given values are none, return current values
-    if (speed_in == mp_const_none && acceleration_in == mp_const_none && torque_in == mp_const_none) {
+    if (PB_PARSE_ARGS_METHOD_ALL_NONE()) {
         mp_obj_t ret[] = {
             mp_obj_new_int(speed),
             make_acceleration_return_value(acceleration, deceleration),
@@ -134,8 +134,7 @@ static mp_obj_t pb_type_Control_pid(size_t n_args, const mp_obj_t *pos_args, mp_
     pbio_control_settings_get_pid(&self->control->settings, &kp, &ki, &kd, &integral_deadzone, &integral_change_max);
 
     // If all given values are none, return current values
-    if (kp_in == mp_const_none && ki_in == mp_const_none && kd_in == mp_const_none &&
-        integral_rate_in == mp_const_none) {
+    if (PB_PARSE_ARGS_METHOD_ALL_NONE()) {
         mp_obj_t ret[5];
         ret[0] = mp_obj_new_int(kp);
         ret[1] = mp_obj_new_int(ki);
@@ -171,7 +170,7 @@ static mp_obj_t pb_type_Control_target_tolerances(size_t n_args, const mp_obj_t
     pbio_control_settings_get_target_tolerances(&self->control->settings, &speed, &position);
 
     // If all given values are none, return current values
-    if (speed_in == mp_const_none && position_in == mp_const_none) {
+    if (PB_PARSE_ARGS_METHOD_ALL_NONE()) {
         mp_obj_t ret[2];
         ret[0] = mp_obj_new_int(speed);
         ret[1] = mp_obj_new_int(position);
@@ -202,7 +201,7 @@ static mp_obj_t pb_type_Control_stall_tolerances(size_t n_args, const mp_obj_t *
     pbio_control_settings_get_stall_tolerances(&self->control->settings, &speed, &time);
 
     // If all given values are none, return current values
-    if (speed_in == mp_const_none && time_in == mp_const_none) {
+    if (PB_PARSE_ARGS_METHOD_ALL_NONE()) {
         mp_obj_t ret[2];
         ret[0] = mp_obj_new_int(speed);
         ret[1] = mp_obj_new_int_from_uint(time);

pybricks/common/pb_type_imu.c

@@ -183,11 +183,7 @@ static mp_obj_t pb_type_imu_settings(size_t n_args, const mp_obj_t *pos_args, mp
     (void)self;
 
     // Return current values if no arguments are given.
-    if (angular_velocity_threshold_in == mp_const_none &&
-        acceleration_threshold_in == mp_const_none &&
-        heading_correction_in == mp_const_none &&
-        acceleration_correction_in == mp_const_none) {
-
+    if (PB_PARSE_ARGS_METHOD_ALL_NONE()) {
         // Raises if not set, so can safely dereference.
         pbio_imu_persistent_settings_t *get_settings;
         pb_assert(pbio_imu_get_settings(&get_settings));

pybricks/robotics/pb_type_drivebase.c

@@ -346,11 +346,7 @@ static mp_obj_t pb_type_DriveBase_settings(size_t n_args, const mp_obj_t *pos_ar
         &turn_rate, &turn_acceleration, &turn_deceleration);
 
     // If all given values are none, return current values
-    if (straight_speed_in == mp_const_none &&
-        straight_acceleration_in == mp_const_none &&
-        turn_rate_in == mp_const_none &&
-        turn_acceleration_in == mp_const_none
-        ) {
+    if (PB_PARSE_ARGS_METHOD_ALL_NONE()) {
         mp_obj_t ret[] = {
             mp_obj_new_int(straight_speed),
             make_acceleration_return_value(straight_acceleration, straight_deceleration),