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AP_UAVCAN: allow multithreaded register/unregistering handlers

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bugobliterator 2023-02-05 14:40:28 +11:00 committed by Andrew Tridgell
parent 56068e65c6
commit 3a38c2f1eb
2 changed files with 8 additions and 0 deletions
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3
libraries/AP_UAVCAN/AP_Canard_iface.cpp
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@ -10,7 +10,10 @@ extern const AP_HAL::HAL& hal;
#define DEBUG_PKTS 0 #define DEBUG_PKTS 0
DEFINE_HANDLER_LIST_HEADS(); DEFINE_HANDLER_LIST_HEADS();
DEFINE_HANDLER_LIST_SEMAPHORES();
DEFINE_TRANSFER_OBJECT_HEADS(); DEFINE_TRANSFER_OBJECT_HEADS();
DEFINE_TRANSFER_OBJECT_SEMAPHORES();
#if AP_TEST_DRONECAN_DRIVERS #if AP_TEST_DRONECAN_DRIVERS
CanardInterface* CanardInterface::canard_ifaces[] = {nullptr, nullptr, nullptr}; CanardInterface* CanardInterface::canard_ifaces[] = {nullptr, nullptr, nullptr};

5
libraries/AP_UAVCAN/canard/canard_helpers_user.h Normal file
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@ -0,0 +1,5 @@
#include <AP_HAL/AP_HAL.h> // to include SEMAPHORE
namespace Canard {
typedef ::HAL_Semaphore Semaphore;
}