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AP_DroneCAN_sniffer: use get_HAL_mutable() to install new CAN interface

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Avoids dubious const_casting.
This commit is contained in:
Thomas Watson 2023-11-23 21:03:48 -06:00 committed by Peter Barker
parent de26095c58
commit 008c0baf5f
1 changed files with 8 additions and 5 deletions
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13
libraries/AP_DroneCAN/examples/DroneCAN_sniffer/DroneCAN_sniffer.cpp
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@ -117,15 +117,18 @@ static void cb_GetNodeInfoRequest(const CanardRxTransfer &transfer, const uavcan
void DroneCAN_sniffer::init(void) void DroneCAN_sniffer::init(void)
{ {
const_cast <AP_HAL::HAL&> (hal).can[driver_index] = new HAL_CANIface(driver_index); // we need to mutate the HAL to install new CAN interfaces
AP_HAL::HAL& hal_mutable = AP_HAL::get_HAL_mutable();
hal_mutable.can[driver_index] = new HAL_CANIface(driver_index);
if (hal.can[driver_index] == nullptr) { if (hal_mutable.can[driver_index] == nullptr) {
AP_HAL::panic("Couldn't allocate CANManager, something is very wrong"); AP_HAL::panic("Couldn't allocate CANManager, something is very wrong");
} }
hal.can[driver_index]->init(1000000, AP_HAL::CANIface::NormalMode); hal_mutable.can[driver_index]->init(1000000, AP_HAL::CANIface::NormalMode);
if (!hal.can[driver_index]->is_initialized()) { if (!hal_mutable.can[driver_index]->is_initialized()) {
debug_dronecan("Can not initialised\n"); debug_dronecan("Can not initialised\n");
return; return;
} }
@ -135,7 +138,7 @@ void DroneCAN_sniffer::init(void)
return; return;
} }
if (!_uavcan_iface_mgr->add_interface(hal.can[driver_index])) { if (!_uavcan_iface_mgr->add_interface(hal_mutable.can[driver_index])) {
debug_dronecan("Failed to add iface"); debug_dronecan("Failed to add iface");
return; return;
} }