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Merged master_uavcan_modular src/modules/uavcan/

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This commit is contained in:
David Sidrane
2015-07-09 11:22:35 -10:00
parent 3fa7006576
commit 22d46fa733
13 changed files with 1258 additions and 202 deletions
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src/modules/uavcan/sensors/sensor_bridge.hpp
+10 -11
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@@ -45,7 +45,7 @@
/**
* A sensor bridge class must implement this interface.
*/
class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge*>
class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge *>
{
public:
static constexpr unsigned MAX_NAME_LEN = 20;
@@ -77,7 +77,7 @@ public:
* Sensor bridge factory.
* Creates all known sensor bridges and puts them in the linked list.
*/
static void make_all(uavcan::INode &node, List<IUavcanSensorBridge*> &list);
static void make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list);
};
/**
@@ -86,8 +86,7 @@ public:
*/
class UavcanCDevSensorBridgeBase : public IUavcanSensorBridge, public device::CDev
{
struct Channel
{
struct Channel {
int node_id = -1;
orb_advert_t orb_advert = -1;
int class_instance = -1;
@@ -104,13 +103,13 @@ protected:
static constexpr unsigned DEFAULT_MAX_CHANNELS = 5; // 640 KB ought to be enough for anybody
UavcanCDevSensorBridgeBase(const char *name, const char *devname, const char *class_devname,
const orb_id_t orb_topic_sensor,
const unsigned max_channels = DEFAULT_MAX_CHANNELS) :
device::CDev(name, devname),
_max_channels(max_channels),
_class_devname(class_devname),
_orb_topic(orb_topic_sensor),
_channels(new Channel[max_channels])
const orb_id_t orb_topic_sensor,
const unsigned max_channels = DEFAULT_MAX_CHANNELS) :
device::CDev(name, devname),
_max_channels(max_channels),
_class_devname(class_devname),
_orb_topic(orb_topic_sensor),
_channels(new Channel[max_channels])
{
_device_id.devid_s.bus_type = DeviceBusType_UAVCAN;
_device_id.devid_s.bus = 0;