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AP_OpticalFlow: rename AP_UAVCAN to AP_DroneCAN

This commit is contained in:
Andrew Tridgell 2023-04-07 10:18:02 +10:00
parent aa4789547f
commit 6bc060d8ab
2 changed files with 13 additions and 13 deletions
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18
libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
View File

@ -5,14 +5,14 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
extern const AP_HAL::HAL& hal;
uint8_t AP_OpticalFlow_HereFlow::_node_id = 0;
AP_OpticalFlow_HereFlow* AP_OpticalFlow_HereFlow::_driver = nullptr;
AP_UAVCAN* AP_OpticalFlow_HereFlow::_ap_uavcan = nullptr;
AP_DroneCAN* AP_OpticalFlow_HereFlow::_ap_dronecan = nullptr;
/*
constructor - registers instance at top Flow driver
*/
@ -26,31 +26,31 @@ AP_OpticalFlow_HereFlow::AP_OpticalFlow_HereFlow(AP_OpticalFlow &flow) :
}
//links the HereFlow messages to the backend
void AP_OpticalFlow_HereFlow::subscribe_msgs(AP_UAVCAN* ap_uavcan)
void AP_OpticalFlow_HereFlow::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
if (ap_uavcan == nullptr) {
if (ap_dronecan == nullptr) {
return;
}
if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_measurement, ap_uavcan->get_driver_index()) == nullptr) {
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_measurement, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("measurement_sub");
}
}
//updates driver states based on received HereFlow messages
void AP_OpticalFlow_HereFlow::handle_measurement(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const com_hex_equipment_flow_Measurement &msg)
void AP_OpticalFlow_HereFlow::handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const com_hex_equipment_flow_Measurement &msg)
{
if (_driver == nullptr) {
return;
}
//protect from data coming from duplicate sensors,
//as we only handle one Here Flow at a time as of now
if (_ap_uavcan == nullptr) {
_ap_uavcan = ap_uavcan;
if (_ap_dronecan == nullptr) {
_ap_dronecan = ap_dronecan;
_node_id = transfer.source_node_id;
}
if (_ap_uavcan == ap_uavcan && _node_id == transfer.source_node_id) {
if (_ap_dronecan == ap_dronecan && _node_id == transfer.source_node_id) {
WITH_SEMAPHORE(_driver->_sem);
_driver->new_data = true;
_driver->flowRate = Vector2f(msg.flow_integral[0], msg.flow_integral[1]);

8
libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
View File

@ -8,7 +8,7 @@
#if AP_OPTICALFLOW_HEREFLOW_ENABLED
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
class AP_OpticalFlow_HereFlow : public OpticalFlow_backend {
public:
@ -18,9 +18,9 @@ public:
void update() override;
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static void handle_measurement(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const com_hex_equipment_flow_Measurement &msg);
static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const com_hex_equipment_flow_Measurement &msg);
private:
@ -31,7 +31,7 @@ private:
static uint8_t _node_id;
static AP_OpticalFlow_HereFlow* _driver;
static AP_UAVCAN* _ap_uavcan;
static AP_DroneCAN* _ap_dronecan;
void _push_state(void);
};