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Align message names to avoid CRC mismatch with deployed units

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This will ensure that the CRCs will match with deployed units to avoid unnecessary incompatibilities while we are figuring out how to best standardize these between stakeholders.
This commit is contained in:
Lorenz Meier
2021-02-02 00:28:41 +01:00
parent 0c74028976
commit 0a58482e51
9 changed files with 190 additions and 14 deletions
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src/drivers/uavcannode/CMakeLists.txt
+1 -1
View File
@@ -97,7 +97,7 @@ target_include_directories(uavcan_${UAVCAN_DRIVER}_driver PUBLIC
set(DSDLC_DIR "${PX4_SOURCE_DIR}/src/drivers/uavcan/dsdl")
set(DSDLC_INPUTS
"${DSDLC_DIR}/com"
"${DSDLC_DIR}/standard"
"${DSDLC_DIR}/ardupilot"
"${LIBUAVCAN_DIR}/dsdl/uavcan"
)
set(DSDLC_OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/include/dsdlc_generated")
src/drivers/uavcannode/Publishers/SafetyButton.hpp
+9 -9
View File
@@ -35,7 +35,7 @@
#include "UavcanPublisherBase.hpp"
#include <standard/indication/Button.hpp>
#include <ardupilot/indication/Button.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/safety.h>
@@ -46,13 +46,13 @@ namespace uavcannode
class SafetyButton :
public UavcanPublisherBase,
public uORB::SubscriptionCallbackWorkItem,
private uavcan::Publisher<standard::indication::Button>
private uavcan::Publisher<ardupilot::indication::Button>
{
public:
SafetyButton(px4::WorkItem *work_item, uavcan::INode &node) :
UavcanPublisherBase(standard::indication::Button::DefaultDataTypeID),
UavcanPublisherBase(ardupilot::indication::Button::DefaultDataTypeID),
uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(safety)),
uavcan::Publisher<standard::indication::Button>(node)
uavcan::Publisher<ardupilot::indication::Button>(node)
{}
void PrintInfo() override
@@ -60,8 +60,8 @@ public:
if (uORB::SubscriptionCallbackWorkItem::advertised()) {
printf("\t%s -> %s:%d\n",
uORB::SubscriptionCallbackWorkItem::get_topic()->o_name,
standard::indication::Button::getDataTypeFullName(),
standard::indication::Button::DefaultDataTypeID);
ardupilot::indication::Button::getDataTypeFullName(),
ardupilot::indication::Button::DefaultDataTypeID);
}
}
@@ -72,10 +72,10 @@ public:
if (uORB::SubscriptionCallbackWorkItem::update(&safety)) {
if (safety.safety_switch_available) {
standard::indication::Button Button{};
Button.button = standard::indication::Button::BUTTON_SAFETY;
ardupilot::indication::Button Button{};
Button.button = ardupilot::indication::Button::BUTTON_SAFETY;
Button.press_time = safety.safety_off ? UINT8_MAX : 0;
uavcan::Publisher<standard::indication::Button>::broadcast(Button);
uavcan::Publisher<ardupilot::indication::Button>::broadcast(Button);
}
}
}