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AP_HAL_Linux: CAN: Rename CANDriver -> CANManager

This commit is contained in:
Nikita Tomilov 2017-12-28 12:05:53 +03:00 committed by Tom Pittenger
parent d0fc481202
commit 43bfcbc8e2
4 changed files with 19 additions and 19 deletions
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2
libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
View File

@ -168,7 +168,7 @@ void AP_BoardConfig_CAN::linux_setup_canbus(void) {
if (drv_num != 0 && drv_num <= MAX_NUMBER_OF_CAN_DRIVERS) {
if (hal.can_mgr[drv_num - 1] == nullptr) {
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new Linux::CANDriver;
const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new Linux::CANManager;
}
if (hal.can_mgr[drv_num - 1] != nullptr) {

24
libraries/AP_HAL_Linux/CAN.cpp
View File

@ -428,7 +428,7 @@ bool CAN::_checkHWFilters(const can_frame& frame) const
}
}
void CANDriver::IfaceWrapper::updateDownStatusFromPollResult(const pollfd& pfd)
void CANManager::IfaceWrapper::updateDownStatusFromPollResult(const pollfd& pfd)
{
if (!_down&& (pfd.revents & POLLERR)) {
int error = 0;
@ -441,7 +441,7 @@ void CANDriver::IfaceWrapper::updateDownStatusFromPollResult(const pollfd& pfd)
}
}
void CANDriver::_timer_tick()
void CANManager::_timer_tick()
{
if (!_initialized) return;
@ -452,7 +452,7 @@ void CANDriver::_timer_tick()
}
}
bool CANDriver::begin(uint32_t bitrate, uint8_t can_number)
bool CANManager::begin(uint32_t bitrate, uint8_t can_number)
{
if (init(can_number) >= 0) {
_initialized = true;
@ -476,32 +476,32 @@ bool CANDriver::begin(uint32_t bitrate, uint8_t can_number)
return false;
}
bool CANDriver::is_initialized()
bool CANManager::is_initialized()
{
return _initialized;
}
void CANDriver::initialized(bool val)
void CANManager::initialized(bool val)
{
_initialized = val;
}
AP_UAVCAN *CANDriver::get_UAVCAN(void)
AP_UAVCAN *CANManager::get_UAVCAN(void)
{
return p_uavcan;
}
void CANDriver::set_UAVCAN(AP_UAVCAN *uavcan)
void CANManager::set_UAVCAN(AP_UAVCAN *uavcan)
{
p_uavcan = uavcan;
}
CAN* CANDriver::getIface(uint8_t iface_index)
CAN* CANManager::getIface(uint8_t iface_index)
{
return (iface_index >= _ifaces.size()) ? nullptr : _ifaces[iface_index].get();
}
int CANDriver::init(uint8_t can_number)
int CANManager::init(uint8_t can_number)
{
int res = -1;
char iface_name[16];
@ -509,13 +509,13 @@ int CANDriver::init(uint8_t can_number)
res = addIface(iface_name);
if (res < 0) {
hal.console->printf("CANDriver: init %s failed\n", iface_name);
hal.console->printf("CANManager: init %s failed\n", iface_name);
}
return res;
}
int16_t CANDriver::select(uavcan::CanSelectMasks& inout_masks,
int16_t CANManager::select(uavcan::CanSelectMasks& inout_masks,
const uavcan::CanFrame* (&)[uavcan::MaxCanIfaces],
uavcan::MonotonicTime blocking_deadline)
{
@ -590,7 +590,7 @@ int16_t CANDriver::select(uavcan::CanSelectMasks& inout_masks,
return _ifaces.size();
}
int CANDriver::addIface(const std::string& iface_name)
int CANManager::addIface(const std::string& iface_name)
{
if (_ifaces.size() >= uavcan::MaxCanIfaces) {
return -1;

10
libraries/AP_HAL_Linux/CAN.h
View File

@ -175,15 +175,15 @@ private:
std::vector<can_filter> _hw_filters_container;
};
class CANDriver: public AP_HAL::CANManager {
class CANManager: public AP_HAL::CANManager {
public:
static CANDriver *from(AP_HAL::CANManager *can)
static CANManager *from(AP_HAL::CANManager *can)
{
return static_cast<CANDriver*>(can);
return static_cast<CANManager*>(can);
}
CANDriver() { _ifaces.reserve(uavcan::MaxCanIfaces); }
~CANDriver() { }
CANManager() { _ifaces.reserve(uavcan::MaxCanIfaces); }
~CANManager() { }
void _timer_tick();

2
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -280,7 +280,7 @@ void Scheduler::_timer_task()
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
for (i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
if(hal.can_mgr[i] != nullptr) {
CANDriver::from(hal.can_mgr[i])->_timer_tick();
CANManager::from(hal.can_mgr[i])->_timer_tick();
}
}
#endif