aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_RangeFinder: rename AP_UAVCAN to AP_DroneCAN

Browse Source
This commit is contained in:
Andrew Tridgell 2023-04-07 10:18:02 +10:00
parent 739fb91439
commit ac809c84f2
2 changed files with 16 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
View File

@ -4,7 +4,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_CANManager/AP_CANManager.h> #include <AP_CANManager/AP_CANManager.h>
#include <AP_UAVCAN/AP_UAVCAN.h> #include <AP_DroneCAN/AP_DroneCAN.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <AP_BoardConfig/AP_BoardConfig.h> #include <AP_BoardConfig/AP_BoardConfig.h>
@ -13,20 +13,20 @@ extern const AP_HAL::HAL& hal;
#define debug_range_finder_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { hal.console->printf(fmt, ##args); }} while (0) #define debug_range_finder_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { hal.console->printf(fmt, ##args); }} while (0)
//links the rangefinder uavcan message to this backend //links the rangefinder uavcan message to this backend
void AP_RangeFinder_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan) void AP_RangeFinder_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{ {
if (ap_uavcan == nullptr) { if (ap_dronecan == nullptr) {
return; return;
} }
if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_measurement, ap_uavcan->get_driver_index()) == nullptr) { if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_measurement, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("measurement_sub"); AP_BoardConfig::allocation_error("measurement_sub");
} }
} }
//Method to find the backend relating to the node id //Method to find the backend relating to the node id
AP_RangeFinder_UAVCAN* AP_RangeFinder_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t address, bool create_new) AP_RangeFinder_UAVCAN* AP_RangeFinder_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new)
{ {
if (ap_uavcan == nullptr) { if (ap_dronecan == nullptr) {
return nullptr; return nullptr;
} }
AP_RangeFinder_UAVCAN* driver = nullptr; AP_RangeFinder_UAVCAN* driver = nullptr;
@ -39,7 +39,7 @@ AP_RangeFinder_UAVCAN* AP_RangeFinder_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_u
} }
//Double check if the driver was initialised as UAVCAN Type //Double check if the driver was initialised as UAVCAN Type
if (driver != nullptr && (driver->_backend_type == RangeFinder::Type::UAVCAN)) { if (driver != nullptr && (driver->_backend_type == RangeFinder::Type::UAVCAN)) {
if (driver->_ap_uavcan == ap_uavcan && if (driver->_ap_dronecan == ap_dronecan &&
driver->_node_id == node_id) { driver->_node_id == node_id) {
return driver; return driver;
} else { } else {
@ -68,8 +68,8 @@ AP_RangeFinder_UAVCAN* AP_RangeFinder_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_u
gcs().send_text(MAV_SEVERITY_INFO, "RangeFinder[%u]: added UAVCAN node %u addr %u", gcs().send_text(MAV_SEVERITY_INFO, "RangeFinder[%u]: added UAVCAN node %u addr %u",
unsigned(i), unsigned(node_id), unsigned(address)); unsigned(i), unsigned(node_id), unsigned(address));
//Assign node id and respective uavcan driver, for identification //Assign node id and respective uavcan driver, for identification
if (driver->_ap_uavcan == nullptr) { if (driver->_ap_dronecan == nullptr) {
driver->_ap_uavcan = ap_uavcan; driver->_ap_dronecan = ap_dronecan;
driver->_node_id = node_id; driver->_node_id = node_id;
break; break;
} }
@ -100,10 +100,10 @@ void AP_RangeFinder_UAVCAN::update()
} }
//RangeFinder message handler //RangeFinder message handler
void AP_RangeFinder_UAVCAN::handle_measurement(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg) void AP_RangeFinder_UAVCAN::handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg)
{ {
//fetch the matching uavcan driver, node id and sensor id backend instance //fetch the matching uavcan driver, node id and sensor id backend instance
AP_RangeFinder_UAVCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id, msg.sensor_id, true); AP_RangeFinder_UAVCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.sensor_id, true);
if (driver == nullptr) { if (driver == nullptr) {
return; return;
} }

10
libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
View File

@ -8,7 +8,7 @@
#if AP_RANGEFINDER_UAVCAN_ENABLED #if AP_RANGEFINDER_UAVCAN_ENABLED
#include <AP_UAVCAN/AP_UAVCAN.h> #include <AP_DroneCAN/AP_DroneCAN.h>
class MeasurementCb; class MeasurementCb;
@ -19,11 +19,11 @@ public:
void update() override; void update() override;
static void subscribe_msgs(AP_UAVCAN* ap_uavcan); static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
static AP_RangeFinder_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t address, bool create_new); static AP_RangeFinder_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
static AP_RangeFinder_Backend* detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params); static AP_RangeFinder_Backend* detect(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
static void handle_measurement(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg); static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_range_sensor_Measurement &msg);
protected: protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override { virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
@ -34,7 +34,7 @@ private:
RangeFinder::Status _status; RangeFinder::Status _status;
uint16_t _distance_cm; uint16_t _distance_cm;
uint32_t _last_reading_ms; uint32_t _last_reading_ms;
AP_UAVCAN* _ap_uavcan; AP_DroneCAN* _ap_dronecan;
uint8_t _node_id; uint8_t _node_id;
bool new_data; bool new_data;
MAV_DISTANCE_SENSOR _sensor_type; MAV_DISTANCE_SENSOR _sensor_type;