From c179ea32328479bbf8e164f713733312bceebc25 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 7 Apr 2023 10:18:01 +1000 Subject: [PATCH] AP_Airspeed: rename AP_UAVCAN to AP_DroneCAN --- libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp | 38 ++++++++++---------- libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h | 12 +++---- 2 files changed, 25 insertions(+), 25 deletions(-) diff --git a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp index d905dc132b..93fd090cfc 100644 --- a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp +++ b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp @@ -3,7 +3,7 @@ #if AP_AIRSPEED_UAVCAN_ENABLED #include -#include +#include #include extern const AP_HAL::HAL& hal; @@ -18,18 +18,18 @@ AP_Airspeed_UAVCAN::AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance AP_Airspeed_Backend(_frontend, _instance) {} -void AP_Airspeed_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan) +void AP_Airspeed_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan) { - if (ap_uavcan == nullptr) { + if (ap_dronecan == nullptr) { return; } - if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_airspeed, ap_uavcan->get_driver_index()) == nullptr) { + if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_airspeed, ap_dronecan->get_driver_index()) == nullptr) { AP_BoardConfig::allocation_error("airspeed_sub"); } #if AP_AIRSPEED_HYGROMETER_ENABLE - if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_hygrometer, ap_uavcan->get_driver_index()) == nullptr) { + if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_hygrometer, ap_dronecan->get_driver_index()) == nullptr) { AP_BoardConfig::allocation_error("hygrometer_sub"); } #endif @@ -42,9 +42,9 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _ AP_Airspeed_UAVCAN* backend = nullptr; for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) { - if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) { + if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) { const auto bus_id = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN, - _detected_modules[i].ap_uavcan->get_driver_index(), + _detected_modules[i].ap_dronecan->get_driver_index(), _detected_modules[i].node_id, 0); if (previous_devid != 0 && previous_devid != bus_id) { // match with previous ID only @@ -56,14 +56,14 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _ LOG_TAG, "Failed register UAVCAN Airspeed Node %d on Bus %d\n", _detected_modules[i].node_id, - _detected_modules[i].ap_uavcan->get_driver_index()); + _detected_modules[i].ap_dronecan->get_driver_index()); } else { _detected_modules[i].driver = backend; AP::can().log_text(AP_CANManager::LOG_INFO, LOG_TAG, "Registered UAVCAN Airspeed Node %d on Bus %d\n", _detected_modules[i].node_id, - _detected_modules[i].ap_uavcan->get_driver_index()); + _detected_modules[i].ap_dronecan->get_driver_index()); backend->set_bus_id(bus_id); } break; @@ -73,15 +73,15 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _ return backend; } -AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id) +AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id) { - if (ap_uavcan == nullptr) { + if (ap_dronecan == nullptr) { return nullptr; } for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) { if (_detected_modules[i].driver != nullptr && - _detected_modules[i].ap_uavcan == ap_uavcan && + _detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id ) { return _detected_modules[i].driver; } @@ -89,7 +89,7 @@ AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, bool detected = false; for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) { - if (_detected_modules[i].ap_uavcan == ap_uavcan && _detected_modules[i].node_id == node_id) { + if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) { // detected detected = true; break; @@ -98,8 +98,8 @@ AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, if (!detected) { for (uint8_t i = 0; i < AIRSPEED_MAX_SENSORS; i++) { - if (_detected_modules[i].ap_uavcan == nullptr) { - _detected_modules[i].ap_uavcan = ap_uavcan; + if (_detected_modules[i].ap_dronecan == nullptr) { + _detected_modules[i].ap_dronecan = ap_dronecan; _detected_modules[i].node_id = node_id; break; } @@ -109,11 +109,11 @@ AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, return nullptr; } -void AP_Airspeed_UAVCAN::handle_airspeed(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg) +void AP_Airspeed_UAVCAN::handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg) { WITH_SEMAPHORE(_sem_registry); - AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id); + AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id); if (driver != nullptr) { WITH_SEMAPHORE(driver->_sem_airspeed); @@ -128,11 +128,11 @@ void AP_Airspeed_UAVCAN::handle_airspeed(AP_UAVCAN *ap_uavcan, const CanardRxTra } #if AP_AIRSPEED_HYGROMETER_ENABLE -void AP_Airspeed_UAVCAN::handle_hygrometer(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg) +void AP_Airspeed_UAVCAN::handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg) { WITH_SEMAPHORE(_sem_registry); - AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id); + AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id); if (driver != nullptr) { WITH_SEMAPHORE(driver->_sem_airspeed); diff --git a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h index 83d99568b7..3ccbdd7127 100644 --- a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h +++ b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h @@ -10,7 +10,7 @@ #include "AP_Airspeed_Backend.h" -#include +#include class AP_Airspeed_UAVCAN : public AP_Airspeed_Backend { public: @@ -29,16 +29,16 @@ public: bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) override; #endif - static void subscribe_msgs(AP_UAVCAN* ap_uavcan); + static void subscribe_msgs(AP_DroneCAN* ap_dronecan); static AP_Airspeed_Backend* probe(AP_Airspeed &_fronted, uint8_t _instance, uint32_t previous_devid); private: - static void handle_airspeed(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg); - static void handle_hygrometer(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg); + static void handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg); + static void handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg); - static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id); + static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id); float _pressure; // Pascal float _temperature; // Celcius @@ -55,7 +55,7 @@ private: // Module Detection Registry static struct DetectedModules { - AP_UAVCAN* ap_uavcan; + AP_DroneCAN* ap_dronecan; uint8_t node_id; AP_Airspeed_UAVCAN *driver; } _detected_modules[AIRSPEED_MAX_SENSORS];