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AP_CANManager: use get_HAL_mutable() to install new CAN interfaces 

Avoids dubious const_casting.
This commit is contained in:
Thomas Watson 2023-11-23 21:00:39 -06:00 committed by Peter Barker
parent 3c82ac6043
commit de26095c58
1 changed files with 18 additions and 12 deletions
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30
libraries/AP_CANManager/AP_CANManager.cpp
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@ -119,6 +119,9 @@ void AP_CANManager::init()
{
WITH_SEMAPHORE(_sem);
// we need to mutate the HAL to install new CAN interfaces
AP_HAL::HAL& hal_mutable = AP_HAL::get_HAL_mutable();
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (AP::sitl() == nullptr) {
AP_HAL::panic("CANManager: SITL not initialised!");
@ -146,17 +149,17 @@ void AP_CANManager::init()
}
drv_num--;
if (hal.can[i] == nullptr) {
if (hal_mutable.can[i] == nullptr) {
// So if this interface is not allocated allocate it here,
// also pass the index of the CANBus
const_cast <AP_HAL::HAL&> (hal).can[i] = new HAL_CANIface(i);
hal_mutable.can[i] = new HAL_CANIface(i);
}
// Initialise the interface we just allocated
if (hal.can[i] == nullptr) {
if (hal_mutable.can[i] == nullptr) {
continue;
}
AP_HAL::CANIface* iface = hal.can[i];
AP_HAL::CANIface* iface = hal_mutable.can[i];
// Find the driver type that we need to allocate and register this interface with
drv_type[drv_num] = (AP_CAN::Protocol) _drv_param[drv_num]._driver_type.get();
@ -166,13 +169,13 @@ void AP_CANManager::init()
#if AP_CAN_SLCAN_ENABLED
if (_slcan_interface.init_passthrough(i)) {
// we have slcan bridge setup pass that on as can iface
can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
can_initialised = hal_mutable.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
iface = &_slcan_interface;
} else {
#else
if (true) {
#endif
can_initialised = hal.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
can_initialised = hal_mutable.can[i]->init(_interfaces[i]._bitrate, _interfaces[i]._fdbitrate*1000000, AP_HAL::CANIface::NormalMode);
}
if (!can_initialised) {
@ -245,8 +248,8 @@ void AP_CANManager::init()
bool enable_filter = false;
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
if (_interfaces[i]._driver_number == (drv_num+1) &&
hal.can[i] != nullptr &&
hal.can[i]->get_operating_mode() == AP_HAL::CANIface::FilteredMode) {
hal_mutable.can[i] != nullptr &&
hal_mutable.can[i]->get_operating_mode() == AP_HAL::CANIface::FilteredMode) {
// Don't worry we don't enable Filters for Normal Ifaces under the driver
// this is just to ensure we enable them for the ones we already decided on
enable_filter = true;
@ -284,6 +287,9 @@ bool AP_CANManager::register_driver(AP_CAN::Protocol dtype, AP_CANDriver *driver
{
WITH_SEMAPHORE(_sem);
// we need to mutate the HAL to install new CAN interfaces
AP_HAL::HAL& hal_mutable = AP_HAL::get_HAL_mutable();
for (uint8_t i = 0; i < HAL_NUM_CAN_IFACES; i++) {
uint8_t drv_num = _interfaces[i]._driver_number;
if (drv_num == 0 || drv_num > HAL_MAX_CAN_PROTOCOL_DRIVERS) {
@ -302,17 +308,17 @@ bool AP_CANManager::register_driver(AP_CAN::Protocol dtype, AP_CANDriver *driver
continue;
}
if (hal.can[i] == nullptr) {
if (hal_mutable.can[i] == nullptr) {
// if this interface is not allocated allocate it here,
// also pass the index of the CANBus
const_cast <AP_HAL::HAL&> (hal).can[i] = new HAL_CANIface(i);
hal_mutable.can[i] = new HAL_CANIface(i);
}
// Initialise the interface we just allocated
if (hal.can[i] == nullptr) {
if (hal_mutable.can[i] == nullptr) {
continue;
}
AP_HAL::CANIface* iface = hal.can[i];
AP_HAL::CANIface* iface = hal_mutable.can[i];
_drivers[drv_num] = driver;
_drivers[drv_num]->add_interface(iface);