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uavcan_v1: Rename Subscription --> Subscriber

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This commit is contained in:
JacobCrabill 2021-02-23 18:01:01 -08:00 committed by Lorenz Meier
parent b5ac6f1eb8
commit a7a7e33614
5 changed files with 18 additions and 18 deletions
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6
src/drivers/uavcan_v1/Subscribers/Battery.hpp
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@ -47,11 +47,11 @@
#include "Subscriber.hpp"
class UavcanBmsSubscription : public UavcanSubscription
class UavcanBmsSubscriber : public UavcanSubscriber
{
public:
UavcanBmsSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanSubscription(ins, pmgr, "bms", instance) { };
UavcanBmsSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanSubscriber(ins, pmgr, "bms", instance) { };
void subscribe() override
{

6
src/drivers/uavcan_v1/Subscribers/Esc.hpp
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@ -51,11 +51,11 @@
#include "Subscriber.hpp"
class UavcanEscSubscription : public UavcanSubscription
class UavcanEscSubscriber : public UavcanSubscriber
{
public:
UavcanEscSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanSubscription(ins, pmgr, "esc", instance) { };
UavcanEscSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanSubscriber(ins, pmgr, "esc", instance) { };
void subscribe() override
{

6
src/drivers/uavcan_v1/Subscribers/Gnss.hpp
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@ -46,11 +46,11 @@
#include "Subscriber.hpp"
class UavcanGnssSubscription : public UavcanSubscription
class UavcanGnssSubscriber : public UavcanSubscriber
{
public:
UavcanGnssSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanSubscription(ins, pmgr, "gps", instance) { };
UavcanGnssSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanSubscriber(ins, pmgr, "gps", instance) { };
void subscribe() override
{

4
src/drivers/uavcan_v1/Subscribers/Subscriber.hpp
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@ -50,12 +50,12 @@
#include "../CanardInterface.hpp"
#include "../ParamManager.hpp"
class UavcanSubscription
class UavcanSubscriber
{
public:
static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
UavcanSubscription(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, uint8_t instance = 0) :
UavcanSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, uint8_t instance = 0) :
_canard_instance(ins), _param_manager(pmgr), _subject_name(subject_name), _instance(instance) { };
virtual void subscribe() = 0;

14
src/drivers/uavcan_v1/Uavcan.hpp
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@ -246,14 +246,14 @@ private:
/// TODO: For some service implementations, it makes sense to have them be both Publishers and Subscribers
UavcanPublisher *_publishers[2] {&_gps_pub, &_esc_controller};
UavcanGnssSubscription _gps0_sub {_canard_instance, _param_manager, 0};
UavcanGnssSubscription _gps1_sub {_canard_instance, _param_manager, 1};
UavcanBmsSubscription _bms0_sub {_canard_instance, _param_manager, 0};
UavcanBmsSubscription _bms1_sub {_canard_instance, _param_manager, 1};
UavcanEscSubscription _esc_sub {_canard_instance, _param_manager, 0};
UavcanGnssSubscriber _gps0_sub {_canard_instance, _param_manager, 0};
UavcanGnssSubscriber _gps1_sub {_canard_instance, _param_manager, 1};
UavcanBmsSubscriber _bms0_sub {_canard_instance, _param_manager, 0};
UavcanBmsSubscriber _bms1_sub {_canard_instance, _param_manager, 1};
UavcanEscSubscriber _esc_sub {_canard_instance, _param_manager, 0};
// Subscription objects: Any object used to bridge a UAVCAN message to a uORB message
UavcanSubscription *_subscribers[5] {&_gps0_sub, &_gps1_sub, &_bms0_sub, &_bms1_sub, &_esc_sub}; /// TODO: turn into List<UavcanSubscription*>
// Subscriber objects: Any object used to bridge a UAVCAN message to a uORB message
UavcanSubscriber *_subscribers[5] {&_gps0_sub, &_gps1_sub, &_bms0_sub, &_bms1_sub, &_esc_sub}; /// TODO: turn into List<UavcanSubscription*>
UavcanMixingInterface _mixing_output {_node_mutex, _esc_controller};
};