From be99f5452fc8a10e7b9a6b9088304ec47c7fde9f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 4 Mar 2025 16:23:31 +1100
Subject: [PATCH] AP_HAL_Linux: add get_device-ptr to HAL DeviceMananger API

---
 libraries/AP_HAL_Linux/I2CDevice.h   |  1 -
 libraries/AP_HAL_Linux/SPIDevice.cpp | 10 +++++-----
 libraries/AP_HAL_Linux/SPIDevice.h   |  4 ++--
 3 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_HAL_Linux/I2CDevice.h b/libraries/AP_HAL_Linux/I2CDevice.h
index 73b0497313..eda09ab39f 100644
--- a/libraries/AP_HAL_Linux/I2CDevice.h
+++ b/libraries/AP_HAL_Linux/I2CDevice.h
@@ -21,7 +21,6 @@
 
 #include <AP_HAL/HAL.h>
 #include <AP_HAL/I2CDevice.h>
-#include <AP_HAL/utility/OwnPtr.h>
 
 #include "Semaphores.h"
 
diff --git a/libraries/AP_HAL_Linux/SPIDevice.cpp b/libraries/AP_HAL_Linux/SPIDevice.cpp
index 91a7e40dd8..785fb5c2ae 100644
--- a/libraries/AP_HAL_Linux/SPIDevice.cpp
+++ b/libraries/AP_HAL_Linux/SPIDevice.cpp
@@ -342,8 +342,8 @@ bool SPIDevice::adjust_periodic_callback(
 }
 
 
-AP_HAL::OwnPtr<AP_HAL::SPIDevice>
-SPIDeviceManager::get_device(const char *name)
+AP_HAL::SPIDevice *
+SPIDeviceManager::get_device_ptr(const char *name)
 {
     SPIDesc *desc = nullptr;
 
@@ -356,7 +356,7 @@ SPIDeviceManager::get_device(const char *name)
     }
 
     if (!desc) {
-        return AP_HAL::OwnPtr<AP_HAL::SPIDevice>(nullptr);
+        return nullptr;
     }
 
     /* Find if bus already exists */
@@ -393,13 +393,13 @@ const char* SPIDeviceManager::get_device_name(uint8_t idx)
 }
 
 /* Create a new device increasing the bus reference */
-AP_HAL::OwnPtr<AP_HAL::SPIDevice>
+AP_HAL::SPIDevice *
 SPIDeviceManager::_create_device(SPIBus &b, SPIDesc &desc) const
 {
     // Ensure bus is open
     b.open(desc.subdev);
 
-    auto dev = AP_HAL::OwnPtr<AP_HAL::SPIDevice>(NEW_NOTHROW SPIDevice(b, desc));
+    auto *dev = NEW_NOTHROW SPIDevice(b, desc);
     if (!dev) {
         return nullptr;
     }
diff --git a/libraries/AP_HAL_Linux/SPIDevice.h b/libraries/AP_HAL_Linux/SPIDevice.h
index fde7e45e31..900cda381e 100644
--- a/libraries/AP_HAL_Linux/SPIDevice.h
+++ b/libraries/AP_HAL_Linux/SPIDevice.h
@@ -110,7 +110,7 @@ public:
     }
 
     /* AP_HAL::SPIDeviceManager implementation */
-    AP_HAL::OwnPtr<AP_HAL::SPIDevice> get_device(const char *name) override;
+    AP_HAL::SPIDevice *get_device_ptr(const char *name) override;
 
     /*
      * Stop all SPI threads and block until they are finalized. This doesn't
@@ -127,7 +127,7 @@ public:
 
 protected:
     void _unregister(SPIBus &b);
-    AP_HAL::OwnPtr<AP_HAL::SPIDevice> _create_device(SPIBus &b, SPIDesc &device_desc) const;
+    AP_HAL::SPIDevice *_create_device(SPIBus &b, SPIDesc &device_desc) const;
 
     std::vector<SPIBus*> _buses;