ardupilot/libraries/AP_UAVCAN/AP_UAVCAN_Servers.h

#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Filesystem/AP_Filesystem.h>

#if HAVE_FILESYSTEM_SUPPORT

#define HAS_UAVCAN_SERVERS

#include <uavcan/uavcan.hpp>

//Forward declaring classes
class AP_UAVCAN_FileEventTracer;
class AP_UAVCAN_FileStorageBackend;
class AP_UAVCAN_CentralizedServer;
class AP_UAVCAN_RestartRequestHandler;

class AP_UAVCAN_Servers
{
public:
    bool init(uavcan::Node<0> &node);

private:
    void reset();

    AP_UAVCAN_CentralizedServer *_server_instance;
    AP_UAVCAN_FileEventTracer *_tracer;
    AP_UAVCAN_FileStorageBackend *_storage_backend;
    AP_UAVCAN_RestartRequestHandler *_restart_request_handler; // one for all nodes....

};

#endif