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AP_HAL: move to having ICanDriver as member instead of inheriting it

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this is to support having drivers using libuavcan supplied helper objects, a method which can lead to much less duplication of code
This commit is contained in:
Siddharth Purohit 2018-02-02 00:46:51 +05:30 committed by Andrew Tridgell
parent f0f4239d4a
commit d539a157b7
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_HAL/CAN.h
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@ -92,8 +92,10 @@ public:
/** /**
* Generic CAN driver. * Generic CAN driver.
*/ */
class AP_HAL::CANManager: public uavcan::ICanDriver { class AP_HAL::CANManager {
public: public:
CANManager(uavcan::ICanDriver* driver) : _driver(driver) {}
/* CAN port open method /* CAN port open method
Opens port with specified bit rate Opens port with specified bit rate
bitrate - selects the speed that the port will be configured to. If zero, the port speed is left bitrate - selects the speed that the port will be configured to. If zero, the port speed is left
@ -115,6 +117,9 @@ public:
virtual AP_UAVCAN *get_UAVCAN(void) = 0; virtual AP_UAVCAN *get_UAVCAN(void) = 0;
virtual void set_UAVCAN(AP_UAVCAN *uavcan) = 0; virtual void set_UAVCAN(AP_UAVCAN *uavcan) = 0;
uavcan::ICanDriver* get_driver() { return _driver; }
private:
uavcan::ICanDriver* _driver;
}; };
#endif #endif