TWAI: Remove asserts used for program logic

This commit fixes the bug where TWAI driver program logic was being
called in assert(), thus leading to the logic being omitted in
release builds.

components/driver/twai.c

@@ -129,7 +129,8 @@ static inline void twai_handle_bus_off(int *alert_req)
 static inline void twai_handle_recovery_complete(int *alert_req)
 {
     //Bus recovery complete.
-    assert(twai_hal_handle_bus_recov_cplt(&twai_context));
+    bool recov_cplt = twai_hal_handle_bus_recov_cplt(&twai_context);
+    assert(recov_cplt);
 
     //Reset and set flags to the equivalent of the stopped state
     TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_RECOVERING | CTRL_FLAG_ERR_WARN |
@@ -220,7 +221,7 @@ static inline void twai_handle_tx_buffer_frame(BaseType_t *task_woken, int *aler
 
     //Update TX message count
     p_twai_obj->tx_msg_count--;
-    assert(p_twai_obj->tx_msg_count >= 0);     //Sanity check
+    assert(p_twai_obj->tx_msg_count >= 0);      //Sanity check
 
     //Check if there are more frames to transmit
     if (p_twai_obj->tx_msg_count > 0 && p_twai_obj->tx_queue != NULL) {
@@ -380,7 +381,8 @@ esp_err_t twai_driver_install(const twai_general_config_t *g_config, const twai_
     }
     periph_module_reset(PERIPH_TWAI_MODULE);
     periph_module_enable(PERIPH_TWAI_MODULE);            //Enable APB CLK to TWAI peripheral
-    assert(twai_hal_init(&twai_context));
+    bool init = twai_hal_init(&twai_context);
+    assert(init);
     twai_hal_configure(&twai_context, t_config, f_config, DRIVER_DEFAULT_INTERRUPTS, g_config->clkout_divider);
     //Todo: Allow interrupt to be registered to specified CPU
     TWAI_EXIT_CRITICAL();
@@ -466,7 +468,8 @@ esp_err_t twai_start(void)
     //Todo: Add assert to see if in reset mode. //Should already be in bus-off mode, set again to make sure
 
     //Currently in listen only mode, need to set to mode specified by configuration
-    assert(twai_hal_start(&twai_context, p_twai_obj->mode));
+    bool started = twai_hal_start(&twai_context, p_twai_obj->mode);
+    assert(started);
 
     TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_STOPPED);
     TWAI_EXIT_CRITICAL();
@@ -480,7 +483,8 @@ esp_err_t twai_stop(void)
     TWAI_CHECK_FROM_CRIT(p_twai_obj != NULL, ESP_ERR_INVALID_STATE);
     TWAI_CHECK_FROM_CRIT(!(p_twai_obj->control_flags & (CTRL_FLAG_STOPPED | CTRL_FLAG_BUS_OFF)), ESP_ERR_INVALID_STATE);
 
-    assert(twai_hal_stop(&twai_context));
+    bool stopped = twai_hal_stop(&twai_context);
+    assert(stopped);
 
     TWAI_RESET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_TX_BUFF_OCCUPIED);
     TWAI_SET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_STOPPED);
@@ -629,7 +633,8 @@ esp_err_t twai_initiate_recovery(void)
     TWAI_SET_FLAG(p_twai_obj->control_flags, CTRL_FLAG_RECOVERING);
 
     //Trigger start of recovery process
-    assert(twai_hal_start_bus_recovery(&twai_context));
+    bool started = twai_hal_start_bus_recovery(&twai_context);
+    assert(started);
     TWAI_EXIT_CRITICAL();
 
     return ESP_OK;