refactor(router/thetastar): Factor out returning status

src/router/thetastar.rs

@@ -278,15 +278,13 @@ where
                     return Err(ThetastarError::NotFound);
                 };
 
-                let Ok(maybe_result) =
+                if let Ok(maybe_result) =
                     strategy.visit_navnode(&self.graph, navnode, &self.path_tracker)
-                else {
+                {
-                    return Ok(ControlFlow::Continue(self.state));
-                };
-
                     if let Some(result) = maybe_result {
                         let path = self.path_tracker.reconstruct_path_to(navnode);
                         let cost = self.scores[&navnode];
+
                         return Ok(ControlFlow::Break((cost, path, result)));
                     }
 
@@ -307,7 +305,7 @@ where
                     self.edge_ids = self.graph.edges(navnode).map(|edge| edge.id()).collect();
 
                     self.state = ThetastarState::VisitFrontierNavedge(navnode);
-                Ok(ControlFlow::Continue(self.state))
+                }
             }
             ThetastarState::VisitFrontierNavedge(visited_navnode) => {
                 if let Some(visited_navedge) = self.edge_ids.pop() {
@@ -315,10 +313,8 @@ where
                         visited_navnode,
                         visited_navedge,
                     );
-                    Ok(ControlFlow::Continue(self.state))
                 } else {
                     self.state = ThetastarState::Scanning;
-                    Ok(ControlFlow::Continue(self.state))
                 }
             }
             ThetastarState::BacktrackAndProbeOnLineOfSight(curr_navnode, visited_navedge) => {
@@ -344,7 +340,6 @@ where
                                 parent_navnode,
                                 visited_navedge,
                             );
-                            Ok(ControlFlow::Continue(self.state))
                         }
                         ControlFlow::Break(Some(los_cost)) => {
                             let next = probed_navnode;
@@ -377,7 +372,6 @@ where
                             self.push_to_frontier(next, next_score, parent_navnode, strategy);
 
                             self.state = ThetastarState::Probing(curr_navnode);
-                            Ok(ControlFlow::Continue(self.state))
                         }
                         ControlFlow::Break(None) => {
                             // Come back to initial navnode if drawing failed
@@ -387,19 +381,19 @@ where
                                 initial_source_navnode,
                                 &self.path_tracker,
                             );
+
                             self.state = ThetastarState::ProbeOnNavedge(
                                 initial_source_navnode,
                                 visited_navedge,
                             );
-                            Ok(ControlFlow::Continue(self.state))
                         }
                     }
                 } else {
                     // Come back from current navnode if drawing from it failed.
                     strategy.visit_navnode(&self.graph, initial_source_navnode, &self.path_tracker);
+
                     self.state =
                         ThetastarState::ProbeOnNavedge(initial_source_navnode, visited_navedge);
-                    Ok(ControlFlow::Continue(self.state))
                 }
             }
             ThetastarState::ProbeOnNavedge(visited_navnode, visited_navedge) => {
@@ -434,20 +428,19 @@ where
                     self.push_to_frontier(next, next_score, visited_navnode, strategy);
 
                     self.state = ThetastarState::Probing(visited_navnode);
-                    Ok(ControlFlow::Continue(self.state))
                 } else {
                     self.state = ThetastarState::VisitFrontierNavedge(visited_navnode);
-                    Ok(ControlFlow::Continue(self.state))
                 }
             }
             ThetastarState::Probing(visited_navnode) => {
                 strategy.remove_probe(&self.graph);
 
                 self.state = ThetastarState::VisitFrontierNavedge(visited_navnode);
+            }
+        }
+
         Ok(ControlFlow::Continue(self.state))
     }
-        }
-    }
 }
 
 impl<G, K> EstimateProgress for ThetastarStepper<G, K>