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AP_OpenDroneID: rename AP_UAVCAN to AP_DroneCAN

This commit is contained in:
Andrew Tridgell 2023-04-07 10:18:01 +10:00
parent 9c6d84ddb1
commit aa4789547f
2 changed files with 18 additions and 18 deletions
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16
libraries/AP_OpenDroneID/AP_OpenDroneID.h
View File

@ -63,7 +63,7 @@
#define ODID_AREA_COUNT_MIN 1
#define ODID_AREA_COUNT_MAX 65000
class AP_UAVCAN;
class AP_DroneCAN;
class AP_OpenDroneID
{
@ -81,7 +81,7 @@ public:
void update();
// send pending dronecan messages
void dronecan_send(AP_UAVCAN *);
void dronecan_send(AP_DroneCAN *);
// handle a message from the GCS
void handle_msg(mavlink_channel_t chan, const mavlink_message_t &msg);
@ -193,12 +193,12 @@ private:
uint8_t dronecan_done_init;
uint8_t dronecan_init_failed;
void dronecan_init(AP_UAVCAN *uavcan);
void dronecan_send_location(AP_UAVCAN *uavcan);
void dronecan_send_basic_id(AP_UAVCAN *uavcan);
void dronecan_send_system(AP_UAVCAN *uavcan);
void dronecan_send_self_id(AP_UAVCAN *uavcan);
void dronecan_send_operator_id(AP_UAVCAN *uavcan);
void dronecan_init(AP_DroneCAN *uavcan);
void dronecan_send_location(AP_DroneCAN *uavcan);
void dronecan_send_basic_id(AP_DroneCAN *uavcan);
void dronecan_send_system(AP_DroneCAN *uavcan);
void dronecan_send_self_id(AP_DroneCAN *uavcan);
void dronecan_send_operator_id(AP_DroneCAN *uavcan);
};
namespace AP

20
libraries/AP_OpenDroneID/AP_OpenDroneID_DroneCAN.cpp
View File

@ -20,7 +20,7 @@
#if AP_OPENDRONEID_ENABLED
#include <AP_UAVCAN/AP_UAVCAN.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include <GCS_MAVLink/GCS.h>
@ -31,9 +31,9 @@ static Canard::Publisher<dronecan_remoteid_SelfID>* dc_self_id[HAL_MAX_CAN_PROTO
static Canard::Publisher<dronecan_remoteid_System>* dc_system[HAL_MAX_CAN_PROTOCOL_DRIVERS];
static Canard::Publisher<dronecan_remoteid_OperatorID>* dc_operator_id[HAL_MAX_CAN_PROTOCOL_DRIVERS];
static void handle_arm_status(AP_UAVCAN* ap_uavcan, const CanardRxTransfer &transfer, const dronecan_remoteid_ArmStatus &msg);
static void handle_arm_status(AP_DroneCAN* ap_dronecan, const CanardRxTransfer &transfer, const dronecan_remoteid_ArmStatus &msg);
void AP_OpenDroneID::dronecan_init(AP_UAVCAN *uavcan)
void AP_OpenDroneID::dronecan_init(AP_DroneCAN *uavcan)
{
const uint8_t driver_index = uavcan->get_driver_index();
const uint8_t driver_mask = 1U<<driver_index;
@ -93,7 +93,7 @@ alloc_failed:
/*
send pending DroneCAN OpenDroneID packets
*/
void AP_OpenDroneID::dronecan_send(AP_UAVCAN *uavcan)
void AP_OpenDroneID::dronecan_send(AP_DroneCAN *uavcan)
{
const uint8_t driver_index = uavcan->get_driver_index();
const uint8_t driver_mask = 1U<<driver_index;
@ -140,7 +140,7 @@ void AP_OpenDroneID::dronecan_send(AP_UAVCAN *uavcan)
#define ODID_COPY_STR(name) do { msg.name.len = strncpy_noterm((char*)msg.name.data, (const char*)pkt.name, sizeof(msg.name.data)); } while(0)
void AP_OpenDroneID::dronecan_send_location(AP_UAVCAN *uavcan)
void AP_OpenDroneID::dronecan_send_location(AP_DroneCAN *uavcan)
{
dronecan_remoteid_Location msg {};
const auto &pkt = pkt_location;
@ -164,7 +164,7 @@ void AP_OpenDroneID::dronecan_send_location(AP_UAVCAN *uavcan)
dc_location[uavcan->get_driver_index()]->broadcast(msg);
}
void AP_OpenDroneID::dronecan_send_basic_id(AP_UAVCAN *uavcan)
void AP_OpenDroneID::dronecan_send_basic_id(AP_DroneCAN *uavcan)
{
dronecan_remoteid_BasicID msg {};
const auto &pkt = pkt_basic_id;
@ -175,7 +175,7 @@ void AP_OpenDroneID::dronecan_send_basic_id(AP_UAVCAN *uavcan)
dc_basic_id[uavcan->get_driver_index()]->broadcast(msg);
}
void AP_OpenDroneID::dronecan_send_system(AP_UAVCAN *uavcan)
void AP_OpenDroneID::dronecan_send_system(AP_DroneCAN *uavcan)
{
dronecan_remoteid_System msg {};
const auto &pkt = pkt_system;
@ -195,7 +195,7 @@ void AP_OpenDroneID::dronecan_send_system(AP_UAVCAN *uavcan)
dc_system[uavcan->get_driver_index()]->broadcast(msg);
}
void AP_OpenDroneID::dronecan_send_self_id(AP_UAVCAN *uavcan)
void AP_OpenDroneID::dronecan_send_self_id(AP_DroneCAN *uavcan)
{
dronecan_remoteid_SelfID msg {};
const auto &pkt = pkt_self_id;
@ -205,7 +205,7 @@ void AP_OpenDroneID::dronecan_send_self_id(AP_UAVCAN *uavcan)
dc_self_id[uavcan->get_driver_index()]->broadcast(msg);
}
void AP_OpenDroneID::dronecan_send_operator_id(AP_UAVCAN *uavcan)
void AP_OpenDroneID::dronecan_send_operator_id(AP_DroneCAN *uavcan)
{
dronecan_remoteid_OperatorID msg {};
const auto &pkt = pkt_operator_id;
@ -218,7 +218,7 @@ void AP_OpenDroneID::dronecan_send_operator_id(AP_UAVCAN *uavcan)
/*
handle ArmStatus message from DroneCAN
*/
static void handle_arm_status(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const dronecan_remoteid_ArmStatus &msg)
static void handle_arm_status(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_remoteid_ArmStatus &msg)
{
mavlink_open_drone_id_arm_status_t status {};