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Upgrade UAVCAN to multi pub/sub A API

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Lorenz Meier
2015-01-29 16:33:53 +01:00
parent 95462c5b7c
commit 1cc4c808a8
10 changed files with 17 additions and 31 deletions
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src/modules/uavcan/sensors/sensor_bridge.hpp
+5 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -90,28 +90,27 @@ class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CD
struct Channel
{
int node_id = -1;
orb_id_t orb_id = nullptr;
orb_advert_t orb_advert = -1;
int class_instance = -1;
int orb_instance = -1;
};
const unsigned _max_channels;
const char *const _class_devname;
orb_id_t *const _orb_topics;
const orb_id_t _orb_topic;
Channel *const _channels;
bool _out_of_channels = false;
protected:
template <unsigned MaxChannels>
UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname,
const orb_id_t (&orb_topics)[MaxChannels]) :
const orb_id_t orb_topic_sensor) :
device::CDev(name, devname),
_max_channels(MaxChannels),
_class_devname(class_devname),
_orb_topics(new orb_id_t[MaxChannels]),
_orb_topic(orb_topic_sensor),
_channels(new Channel[MaxChannels])
{
memcpy(_orb_topics, orb_topics, sizeof(orb_id_t) * MaxChannels);
_device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
_device_id.devid_s.bus = 0;
}