From 3c46db52613aa1aeab6ca710a5b45b6b6e54d5fe Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 31 Jul 2023 20:39:12 +1000 Subject: [PATCH] AP_Periph: rename ins locals to avoid conflict with ins member variable --- Tools/AP_Periph/AP_Periph.h | 2 +- Tools/AP_Periph/can.cpp | 90 +++++++++++++++---------------- Tools/AP_Periph/serial_tunnel.cpp | 4 +- 3 files changed, 48 insertions(+), 48 deletions(-) diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h index 085a4263f8..1159776454 100644 --- a/Tools/AP_Periph/AP_Periph.h +++ b/Tools/AP_Periph/AP_Periph.h @@ -345,7 +345,7 @@ public: uint16_t payload_len); #if AP_UART_MONITOR_ENABLED - void handle_tunnel_Targetted(CanardInstance* ins, CanardRxTransfer* transfer); + void handle_tunnel_Targetted(CanardInstance* canard_instance, CanardRxTransfer* transfer); void send_serial_monitor_data(); int8_t get_default_tunnel_serial_port(void) const; diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp index e4cccc9a68..894c8dcc74 100644 --- a/Tools/AP_Periph/can.cpp +++ b/Tools/AP_Periph/can.cpp @@ -208,7 +208,7 @@ static void readUniqueID(uint8_t* out_uid) /* handle a GET_NODE_INFO request */ -static void handle_get_node_info(CanardInstance* ins, +static void handle_get_node_info(CanardInstance* canard_instance, CanardRxTransfer* transfer) { uint8_t buffer[UAVCAN_PROTOCOL_GETNODEINFO_RESPONSE_MAX_SIZE] {}; @@ -241,7 +241,7 @@ static void handle_get_node_info(CanardInstance* ins, uint16_t total_size = uavcan_protocol_GetNodeInfoResponse_encode(&pkt, buffer, !periph.canfdout()); - const int16_t resp_res = canardRequestOrRespond(ins, + const int16_t resp_res = canardRequestOrRespond(canard_instance, transfer->source_node_id, UAVCAN_PROTOCOL_GETNODEINFO_SIGNATURE, UAVCAN_PROTOCOL_GETNODEINFO_ID, @@ -265,7 +265,7 @@ static void handle_get_node_info(CanardInstance* ins, /* handle parameter GetSet request */ -static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_param_getset(CanardInstance* canard_instance, CanardRxTransfer* transfer) { // param fetch all can take a long time, so pat watchdog stm32_watchdog_pat(); @@ -350,7 +350,7 @@ static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer) uint8_t buffer[UAVCAN_PROTOCOL_PARAM_GETSET_RESPONSE_MAX_SIZE] {}; uint16_t total_size = uavcan_protocol_param_GetSetResponse_encode(&pkt, buffer, !periph.canfdout()); - canardRequestOrRespond(ins, + canardRequestOrRespond(canard_instance, transfer->source_node_id, UAVCAN_PROTOCOL_PARAM_GETSET_SIGNATURE, UAVCAN_PROTOCOL_PARAM_GETSET_ID, @@ -372,7 +372,7 @@ static void handle_param_getset(CanardInstance* ins, CanardRxTransfer* transfer) /* handle parameter executeopcode request */ -static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_param_executeopcode(CanardInstance* canard_instance, CanardRxTransfer* transfer) { uavcan_protocol_param_ExecuteOpcodeRequest req; if (uavcan_protocol_param_ExecuteOpcodeRequest_decode(transfer, &req)) { @@ -410,7 +410,7 @@ static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* tr uint8_t buffer[UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_RESPONSE_MAX_SIZE] {}; uint16_t total_size = uavcan_protocol_param_ExecuteOpcodeResponse_encode(&pkt, buffer, !periph.canfdout()); - canardRequestOrRespond(ins, + canardRequestOrRespond(canard_instance, transfer->source_node_id, UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE, UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID, @@ -431,7 +431,7 @@ static void handle_param_executeopcode(CanardInstance* ins, CanardRxTransfer* tr static void processTx(void); static void processRx(void); -static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_begin_firmware_update(CanardInstance* canard_instance, CanardRxTransfer* transfer) { #if HAL_RAM_RESERVE_START >= 256 // setup information on firmware request at start of ram @@ -449,14 +449,14 @@ static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer* comms->server_node_id = transfer->source_node_id; } memcpy(comms->path, req.image_file_remote_path.path.data, req.image_file_remote_path.path.len); - comms->my_node_id = canardGetLocalNodeID(ins); + comms->my_node_id = canardGetLocalNodeID(canard_instance); uint8_t buffer[UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_MAX_SIZE] {}; uavcan_protocol_file_BeginFirmwareUpdateResponse reply {}; reply.error = UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_RESPONSE_ERROR_OK; uint32_t total_size = uavcan_protocol_file_BeginFirmwareUpdateResponse_encode(&reply, buffer, !periph.canfdout()); - canardRequestOrRespond(ins, + canardRequestOrRespond(canard_instance, transfer->source_node_id, UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_SIGNATURE, UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID, @@ -483,12 +483,12 @@ static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer* // the node_id periph.prepare_reboot(); #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS - set_fast_reboot((rtc_boot_magic)(RTC_BOOT_CANBL | canardGetLocalNodeID(ins))); + set_fast_reboot((rtc_boot_magic)(RTC_BOOT_CANBL | canardGetLocalNodeID(canard_instance))); NVIC_SystemReset(); #endif } -static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_allocation_response(CanardInstance* canard_instance, CanardRxTransfer* transfer) { // Rule C - updating the randomized time interval dronecan.send_next_node_id_allocation_request_at_ms = @@ -526,7 +526,7 @@ static void handle_allocation_response(CanardInstance* ins, CanardRxTransfer* tr printf("Matching allocation response: %d\n", msg.unique_id.len); } else { // Allocation complete - copying the allocated node ID from the message - canardSetLocalNodeID(ins, msg.node_id); + canardSetLocalNodeID(canard_instance, msg.node_id); printf("IF%d Node ID allocated: %d\n", dronecan.dna_interface, msg.node_id); #if defined(HAL_PERIPH_ENABLE_GPS) && (HAL_NUM_CAN_IFACES >= 2) && GPS_MOVING_BASELINE @@ -552,7 +552,7 @@ static uint32_t buzzer_len_ms; /* handle BeepCommand */ -static void handle_beep_command(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_beep_command(CanardInstance* canard_instance, CanardRxTransfer* transfer) { uavcan_equipment_indication_BeepCommand req; if (uavcan_equipment_indication_BeepCommand_decode(transfer, &req)) { @@ -595,7 +595,7 @@ static uint8_t safety_state; /* handle SafetyState */ -static void handle_safety_state(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_safety_state(CanardInstance* canard_instance, CanardRxTransfer* transfer) { ardupilot_indication_SafetyState req; if (ardupilot_indication_SafetyState_decode(transfer, &req)) { @@ -611,7 +611,7 @@ static void handle_safety_state(CanardInstance* ins, CanardRxTransfer* transfer) /* handle ArmingStatus */ -static void handle_arming_status(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_arming_status(CanardInstance* canard_instance, CanardRxTransfer* transfer) { uavcan_equipment_safety_ArmingStatus req; if (uavcan_equipment_safety_ArmingStatus_decode(transfer, &req)) { @@ -624,7 +624,7 @@ static void handle_arming_status(CanardInstance* ins, CanardRxTransfer* transfer /* handle gnss::RTCMStream */ -static void handle_RTCMStream(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_RTCMStream(CanardInstance* canard_instance, CanardRxTransfer* transfer) { uavcan_equipment_gnss_RTCMStream req; if (uavcan_equipment_gnss_RTCMStream_decode(transfer, &req)) { @@ -637,7 +637,7 @@ static void handle_RTCMStream(CanardInstance* ins, CanardRxTransfer* transfer) handle gnss::MovingBaselineData */ #if GPS_MOVING_BASELINE -static void handle_MovingBaselineData(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_MovingBaselineData(CanardInstance* canard_instance, CanardRxTransfer* transfer) { ardupilot_gnss_MovingBaselineData msg; if (ardupilot_gnss_MovingBaselineData_decode(transfer, &msg)) { @@ -736,7 +736,7 @@ static void set_rgb_led(uint8_t red, uint8_t green, uint8_t blue) /* handle lightscommand */ -static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_lightscommand(CanardInstance* canard_instance, CanardRxTransfer* transfer) { uavcan_equipment_indication_LightsCommand req; if (uavcan_equipment_indication_LightsCommand_decode(transfer, &req)) { @@ -766,7 +766,7 @@ static void handle_lightscommand(CanardInstance* ins, CanardRxTransfer* transfer #endif // AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY #ifdef HAL_PERIPH_ENABLE_RC_OUT -static void handle_esc_rawcommand(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_esc_rawcommand(CanardInstance* canard_instance, CanardRxTransfer* transfer) { uavcan_equipment_esc_RawCommand cmd; if (uavcan_equipment_esc_RawCommand_decode(transfer, &cmd)) { @@ -779,7 +779,7 @@ static void handle_esc_rawcommand(CanardInstance* ins, CanardRxTransfer* transfe periph.last_esc_raw_command_ms = AP_HAL::millis(); } -static void handle_act_command(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_act_command(CanardInstance* canard_instance, CanardRxTransfer* transfer) { uavcan_equipment_actuator_ArrayCommand cmd; if (uavcan_equipment_actuator_ArrayCommand_decode(transfer, &cmd)) { @@ -801,7 +801,7 @@ static void handle_act_command(CanardInstance* ins, CanardRxTransfer* transfer) #endif // HAL_PERIPH_ENABLE_RC_OUT #if defined(HAL_PERIPH_ENABLE_NOTIFY) -static void handle_notify_state(CanardInstance* ins, CanardRxTransfer* transfer) +static void handle_notify_state(CanardInstance* canard_instance, CanardRxTransfer* transfer) { ardupilot_indication_NotifyState msg; if (ardupilot_indication_NotifyState_decode(transfer, &msg)) { @@ -890,7 +890,7 @@ static void can_safety_button_update(void) /** * This callback is invoked by the library when a new message or request or response is received. */ -static void onTransferReceived(CanardInstance* ins, +static void onTransferReceived(CanardInstance* canard_instance, CanardRxTransfer* transfer) { #ifdef HAL_GPIO_PIN_LED_CAN1 @@ -906,21 +906,21 @@ static void onTransferReceived(CanardInstance* ins, * Dynamic node ID allocation protocol. * Taking this branch only if we don't have a node ID, ignoring otherwise. */ - if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID) { + if (canardGetLocalNodeID(canard_instance) == CANARD_BROADCAST_NODE_ID) { if (transfer->transfer_type == CanardTransferTypeBroadcast && transfer->data_type_id == UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_ID) { - handle_allocation_response(ins, transfer); + handle_allocation_response(canard_instance, transfer); } return; } switch (transfer->data_type_id) { case UAVCAN_PROTOCOL_GETNODEINFO_ID: - handle_get_node_info(ins, transfer); + handle_get_node_info(canard_instance, transfer); break; case UAVCAN_PROTOCOL_FILE_BEGINFIRMWAREUPDATE_ID: - handle_begin_firmware_update(ins, transfer); + handle_begin_firmware_update(canard_instance, transfer); break; case UAVCAN_PROTOCOL_RESTARTNODE_ID: @@ -935,66 +935,66 @@ static void onTransferReceived(CanardInstance* ins, break; case UAVCAN_PROTOCOL_PARAM_GETSET_ID: - handle_param_getset(ins, transfer); + handle_param_getset(canard_instance, transfer); break; case UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_ID: - handle_param_executeopcode(ins, transfer); + handle_param_executeopcode(canard_instance, transfer); break; #if defined(HAL_PERIPH_ENABLE_BUZZER_WITHOUT_NOTIFY) || defined (HAL_PERIPH_ENABLE_NOTIFY) case UAVCAN_EQUIPMENT_INDICATION_BEEPCOMMAND_ID: - handle_beep_command(ins, transfer); + handle_beep_command(canard_instance, transfer); break; #endif #if defined(HAL_GPIO_PIN_SAFE_LED) || defined(HAL_PERIPH_ENABLE_RC_OUT) case ARDUPILOT_INDICATION_SAFETYSTATE_ID: - handle_safety_state(ins, transfer); + handle_safety_state(canard_instance, transfer); break; #endif case UAVCAN_EQUIPMENT_SAFETY_ARMINGSTATUS_ID: - handle_arming_status(ins, transfer); + handle_arming_status(canard_instance, transfer); break; #ifdef HAL_PERIPH_ENABLE_GPS case UAVCAN_EQUIPMENT_GNSS_RTCMSTREAM_ID: - handle_RTCMStream(ins, transfer); + handle_RTCMStream(canard_instance, transfer); break; #if GPS_MOVING_BASELINE case ARDUPILOT_GNSS_MOVINGBASELINEDATA_ID: - handle_MovingBaselineData(ins, transfer); + handle_MovingBaselineData(canard_instance, transfer); break; #endif #endif // HAL_PERIPH_ENABLE_GPS #if AP_UART_MONITOR_ENABLED case UAVCAN_TUNNEL_TARGETTED_ID: - periph.handle_tunnel_Targetted(ins, transfer); + periph.handle_tunnel_Targetted(canard_instance, transfer); break; #endif #if defined(AP_PERIPH_HAVE_LED_WITHOUT_NOTIFY) || defined(HAL_PERIPH_ENABLE_NOTIFY) case UAVCAN_EQUIPMENT_INDICATION_LIGHTSCOMMAND_ID: - handle_lightscommand(ins, transfer); + handle_lightscommand(canard_instance, transfer); break; #endif #ifdef HAL_PERIPH_ENABLE_RC_OUT case UAVCAN_EQUIPMENT_ESC_RAWCOMMAND_ID: - handle_esc_rawcommand(ins, transfer); + handle_esc_rawcommand(canard_instance, transfer); break; case UAVCAN_EQUIPMENT_ACTUATOR_ARRAYCOMMAND_ID: - handle_act_command(ins, transfer); + handle_act_command(canard_instance, transfer); break; #endif #ifdef HAL_PERIPH_ENABLE_NOTIFY case ARDUPILOT_INDICATION_NOTIFYSTATE_ID: - handle_notify_state(ins, transfer); + handle_notify_state(canard_instance, transfer); break; #endif } @@ -1008,7 +1008,7 @@ static void onTransferReceived(CanardInstance* ins, * If the callback returns false, the library will ignore the transfer. * All transfers that are addressed to other nodes are always ignored. */ -static bool shouldAcceptTransfer(const CanardInstance* ins, +static bool shouldAcceptTransfer(const CanardInstance* canard_instance, uint64_t* out_data_type_signature, uint16_t data_type_id, CanardTransferType transfer_type, @@ -1016,7 +1016,7 @@ static bool shouldAcceptTransfer(const CanardInstance* ins, { (void)source_node_id; - if (canardGetLocalNodeID(ins) == CANARD_BROADCAST_NODE_ID) + if (canardGetLocalNodeID(canard_instance) == CANARD_BROADCAST_NODE_ID) { /* * If we're in the process of allocation of dynamic node ID, accept only relevant transfers. @@ -1205,21 +1205,21 @@ static void processTx(void) bool sent = true; const uint64_t deadline = AP_HAL::native_micros64() + 1000000; // try sending to all interfaces - for (auto &ins : instances) { - if (ins.iface == NULL) { + for (auto &_ins : instances) { + if (_ins.iface == NULL) { continue; } #if CANARD_MULTI_IFACE - if (!(txf->iface_mask & (1U<iface_mask & (1U<<_ins.index))) { continue; } #endif #if HAL_NUM_CAN_IFACES >= 2 - if (periph.can_protocol_cached[ins.index] != AP_CAN::Protocol::DroneCAN) { + if (periph.can_protocol_cached[_ins.index] != AP_CAN::Protocol::DroneCAN) { continue; } #endif - if (ins.iface->send(txmsg, deadline, 0) <= 0) { + if (_ins.iface->send(txmsg, deadline, 0) <= 0) { sent = false; } } diff --git a/Tools/AP_Periph/serial_tunnel.cpp b/Tools/AP_Periph/serial_tunnel.cpp index f7ab4c1d21..72015d61fe 100644 --- a/Tools/AP_Periph/serial_tunnel.cpp +++ b/Tools/AP_Periph/serial_tunnel.cpp @@ -69,13 +69,13 @@ int8_t AP_Periph_FW::get_default_tunnel_serial_port(void) const /* handle tunnel data */ -void AP_Periph_FW::handle_tunnel_Targetted(CanardInstance* ins, CanardRxTransfer* transfer) +void AP_Periph_FW::handle_tunnel_Targetted(CanardInstance* canard_ins, CanardRxTransfer* transfer) { uavcan_tunnel_Targetted pkt; if (uavcan_tunnel_Targetted_decode(transfer, &pkt)) { return; } - if (pkt.target_node != canardGetLocalNodeID(ins)) { + if (pkt.target_node != canardGetLocalNodeID(canard_ins)) { return; } if (uart_monitor.buffer == nullptr) {