From 3129cae87527130917cb2e4fbc5c4ef5cd4cf699 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 8 Apr 2023 14:13:44 +1000
Subject: [PATCH] AP_DroneCAN: cleanup more defines and classes

---
 libraries/AP_DroneCAN/AP_DroneCAN.cpp         |  8 +++---
 .../DroneCAN_sniffer/UAVCAN_sniffer.cpp       | 28 +++++++++----------
 2 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index 1c04de8c99..b99eed1ea9 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -53,11 +53,11 @@
 extern const AP_HAL::HAL& hal;
 
 // setup default pool size
-#ifndef UAVCAN_NODE_POOL_SIZE
+#ifndef DRONECAN_NODE_POOL_SIZE
 #if HAL_CANFD_SUPPORTED
-#define UAVCAN_NODE_POOL_SIZE 16384
+#define DRONECAN_NODE_POOL_SIZE 16384
 #else
-#define UAVCAN_NODE_POOL_SIZE 8192
+#define DRONECAN_NODE_POOL_SIZE 8192
 #endif
 #endif
 
@@ -141,7 +141,7 @@ const AP_Param::GroupInfo AP_DroneCAN::var_info[] = {
     // @Description: Amount of memory in bytes to allocate for the DroneCAN memory pool. More memory is needed for higher CAN bus loads
     // @Range: 1024 16384
     // @User: Advanced
-    AP_GROUPINFO("POOL", 8, AP_DroneCAN, _pool_size, UAVCAN_NODE_POOL_SIZE),
+    AP_GROUPINFO("POOL", 8, AP_DroneCAN, _pool_size, DRONECAN_NODE_POOL_SIZE),
     
     AP_GROUPEND
 };
diff --git a/libraries/AP_DroneCAN/examples/DroneCAN_sniffer/UAVCAN_sniffer.cpp b/libraries/AP_DroneCAN/examples/DroneCAN_sniffer/UAVCAN_sniffer.cpp
index 8a4700963c..3e36e8e7a0 100644
--- a/libraries/AP_DroneCAN/examples/DroneCAN_sniffer/UAVCAN_sniffer.cpp
+++ b/libraries/AP_DroneCAN/examples/DroneCAN_sniffer/UAVCAN_sniffer.cpp
@@ -1,5 +1,5 @@
 /*
-  simple UAVCAN network sniffer as an ArduPilot firmware
+  simple DroneCAN network sniffer as an ArduPilot firmware
  */
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
@@ -24,16 +24,16 @@ void loop();
 
 const AP_HAL::HAL& hal = AP_HAL::get_HAL();
 
-#define UAVCAN_NODE_POOL_SIZE 8192
+#define DRONECAN_NODE_POOL_SIZE 8192
 
-static uint8_t node_memory_pool[UAVCAN_NODE_POOL_SIZE];
+static uint8_t node_memory_pool[DRONECAN_NODE_POOL_SIZE];
 
 #define debug_uavcan(fmt, args...) do { hal.console->printf(fmt, ##args); } while (0)
 
-class UAVCAN_sniffer {
+class DroneCAN_sniffer {
 public:
-    UAVCAN_sniffer();
-    ~UAVCAN_sniffer();
+    DroneCAN_sniffer();
+    ~DroneCAN_sniffer();
 
     void init(void);
     void loop(void);
@@ -96,7 +96,7 @@ static void cb_GetNodeInfoRequest(const CanardRxTransfer &transfer, const uavcan
     node_info_srv->respond(transfer, node_info);
 }
 
-void UAVCAN_sniffer::init(void)
+void DroneCAN_sniffer::init(void)
 {
     const_cast <AP_HAL::HAL&> (hal).can[driver_index] = new HAL_CANIface(driver_index);
     
@@ -156,7 +156,7 @@ void UAVCAN_sniffer::init(void)
     START_CB(uavcan_equipment_indication_LightsCommand, LightsCommand);
     START_CB(com_hex_equipment_flow_Measurement, Measurement);
 
-    debug_uavcan("UAVCAN: init done\n\r");
+    debug_uavcan("DroneCAN: init done\n\r");
 }
 
 static void send_node_status()
@@ -171,7 +171,7 @@ static void send_node_status()
 }
 
 uint32_t last_status_send = 0;
-void UAVCAN_sniffer::loop(void)
+void DroneCAN_sniffer::loop(void)
 {
     if (AP_HAL::millis() - last_status_send > 1000) {
         last_status_send = AP_HAL::millis();
@@ -180,7 +180,7 @@ void UAVCAN_sniffer::loop(void)
     _uavcan_iface_mgr->process(1);
 }
 
-void UAVCAN_sniffer::print_stats(void)
+void DroneCAN_sniffer::print_stats(void)
 {
     hal.console->printf("%lu\n", (unsigned long)AP_HAL::micros());
     for (uint16_t i=0;i<100;i++) {
@@ -193,19 +193,19 @@ void UAVCAN_sniffer::print_stats(void)
     hal.console->printf("\n");
 }
 
-static UAVCAN_sniffer sniffer;
+static DroneCAN_sniffer sniffer;
 
-UAVCAN_sniffer::UAVCAN_sniffer()
+DroneCAN_sniffer::DroneCAN_sniffer()
 {}
 
-UAVCAN_sniffer::~UAVCAN_sniffer()
+DroneCAN_sniffer::~DroneCAN_sniffer()
 {
 }
 
 void setup(void)
 {
     hal.scheduler->delay(2000);
-    hal.console->printf("Starting UAVCAN sniffer\n");
+    hal.console->printf("Starting DroneCAN sniffer\n");
     sniffer.init();
 }