Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Proximity: rename AP_UAVCAN to AP_DroneCAN

This commit is contained in:
Andrew Tridgell 2023-04-07 10:18:02 +10:00
parent 6bc060d8ab
commit 739fb91439
2 changed files with 16 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
View File

@ -19,7 +19,7 @@
#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>
#include <GCS_MAVLink/GCS.h>
@ -32,21 +32,21 @@ ObjectBuffer_TS<AP_Proximity_DroneCAN::ObstacleItem> AP_Proximity_DroneCAN::item
//links the Proximity DroneCAN message to this backend
void AP_Proximity_DroneCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
void AP_Proximity_DroneCAN::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");
}
}
//Method to find the backend relating to the node id
AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t address, bool create_new)
AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new)
{
if (ap_uavcan == nullptr) {
if (ap_dronecan == nullptr) {
return nullptr;
}
@ -64,7 +64,7 @@ AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_uavcan_backend(AP_UAVCAN* ap_u
}
//Double check if the driver was initialised as DroneCAN Type
if (driver != nullptr && (driver->_backend_type == AP_Proximity::Type::DroneCAN)) {
if (driver->_ap_uavcan == ap_uavcan &&
if (driver->_ap_dronecan == ap_dronecan &&
driver->_node_id == node_id) {
return driver;
} else {
@ -99,8 +99,8 @@ AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_uavcan_backend(AP_UAVCAN* ap_u
unsigned(i), unsigned(i));
}
//Assign node id and respective dronecan driver, for identification
if (driver->_ap_uavcan == nullptr) {
driver->_ap_uavcan = ap_uavcan;
if (driver->_ap_dronecan == nullptr) {
driver->_ap_dronecan = ap_dronecan;
driver->_node_id = node_id;
break;
}
@ -154,10 +154,10 @@ float AP_Proximity_DroneCAN::distance_min() const
}
//Proximity message handler
void AP_Proximity_DroneCAN::handle_measurement(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg)
void AP_Proximity_DroneCAN::handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg)
{
//fetch the matching DroneCAN driver, node id and sensor id backend instance
AP_Proximity_DroneCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id, msg.sensor_id, true);
AP_Proximity_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.sensor_id, true);
if (driver == nullptr) {
return;
}

10
libraries/AP_Proximity/AP_Proximity_DroneCAN.h
View File

@ -2,7 +2,7 @@
#include "AP_Proximity_Backend.h"
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
#ifndef AP_PROXIMITY_DRONECAN_ENABLED
#define AP_PROXIMITY_DRONECAN_ENABLED (HAL_ENABLE_LIBUAVCAN_DRIVERS && HAL_PROXIMITY_ENABLED)
@ -24,18 +24,18 @@ public:
float distance_min() const override;
static AP_Proximity_DroneCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t address, bool create_new);
static AP_Proximity_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
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 ardupilot_equipment_proximity_sensor_Proximity &msg);
static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg);
private:
uint32_t _last_update_ms; // system time of last message received
AP_UAVCAN* _ap_uavcan;
AP_DroneCAN* _ap_dronecan;
uint8_t _node_id;
struct ObstacleItem {