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AP_Periph: rename ins locals to avoid conflict with ins member variable

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This commit is contained in:
Peter Barker 2023-07-31 20:39:12 +10:00 committed by Andrew Tridgell
parent 17343e2228
commit 3c46db5261
3 changed files with 48 additions and 48 deletions
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2
Tools/AP_Periph/AP_Periph.h
View File

@ -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;

90
Tools/AP_Periph/can.cpp
View File

@ -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<<ins.index))) {
if (!(txf->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;
}
}

4
Tools/AP_Periph/serial_tunnel.cpp
View File

@ -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) {