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uavcan_v1: Rename Subscription --> Subscriber

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This commit is contained in:
JacobCrabill
2021-02-24 19:22:11 +01:00
committed by Lorenz Meier
parent b5ac6f1eb8
commit a7a7e33614
5 changed files with 18 additions and 18 deletions
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src/drivers/uavcan_v1/Subscribers/Battery.hpp
+3 -3
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@@ -47,11 +47,11 @@
#include "Subscriber.hpp" #include "Subscriber.hpp"
class UavcanBmsSubscription : public UavcanSubscription class UavcanBmsSubscriber : public UavcanSubscriber
{ {
public: public:
UavcanBmsSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) : UavcanBmsSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanSubscription(ins, pmgr, "bms", instance) { }; UavcanSubscriber(ins, pmgr, "bms", instance) { };
void subscribe() override void subscribe() override
{ {
src/drivers/uavcan_v1/Subscribers/Esc.hpp
+3 -3
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@@ -51,11 +51,11 @@
#include "Subscriber.hpp" #include "Subscriber.hpp"
class UavcanEscSubscription : public UavcanSubscription class UavcanEscSubscriber : public UavcanSubscriber
{ {
public: public:
UavcanEscSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) : UavcanEscSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanSubscription(ins, pmgr, "esc", instance) { }; UavcanSubscriber(ins, pmgr, "esc", instance) { };
void subscribe() override void subscribe() override
{ {
src/drivers/uavcan_v1/Subscribers/Gnss.hpp
+3 -3
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@@ -46,11 +46,11 @@
#include "Subscriber.hpp" #include "Subscriber.hpp"
class UavcanGnssSubscription : public UavcanSubscription class UavcanGnssSubscriber : public UavcanSubscriber
{ {
public: public:
UavcanGnssSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) : UavcanGnssSubscriber(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
UavcanSubscription(ins, pmgr, "gps", instance) { }; UavcanSubscriber(ins, pmgr, "gps", instance) { };
void subscribe() override void subscribe() override
{ {
src/drivers/uavcan_v1/Subscribers/Subscriber.hpp
+2 -2
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@@ -50,12 +50,12 @@
#include "../CanardInterface.hpp" #include "../CanardInterface.hpp"
#include "../ParamManager.hpp" #include "../ParamManager.hpp"
class UavcanSubscription class UavcanSubscriber
{ {
public: public:
static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U; 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) { }; _canard_instance(ins), _param_manager(pmgr), _subject_name(subject_name), _instance(instance) { };
virtual void subscribe() = 0; virtual void subscribe() = 0;
src/drivers/uavcan_v1/Uavcan.hpp
+7 -7
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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 /// TODO: For some service implementations, it makes sense to have them be both Publishers and Subscribers
UavcanPublisher *_publishers[2] {&_gps_pub, &_esc_controller}; UavcanPublisher *_publishers[2] {&_gps_pub, &_esc_controller};
UavcanGnssSubscription _gps0_sub {_canard_instance, _param_manager, 0}; UavcanGnssSubscriber _gps0_sub {_canard_instance, _param_manager, 0};
UavcanGnssSubscription _gps1_sub {_canard_instance, _param_manager, 1}; UavcanGnssSubscriber _gps1_sub {_canard_instance, _param_manager, 1};
UavcanBmsSubscription _bms0_sub {_canard_instance, _param_manager, 0}; UavcanBmsSubscriber _bms0_sub {_canard_instance, _param_manager, 0};
UavcanBmsSubscription _bms1_sub {_canard_instance, _param_manager, 1}; UavcanBmsSubscriber _bms1_sub {_canard_instance, _param_manager, 1};
UavcanEscSubscription _esc_sub {_canard_instance, _param_manager, 0}; UavcanEscSubscriber _esc_sub {_canard_instance, _param_manager, 0};
// Subscription objects: Any object used to bridge a UAVCAN message to a uORB message // Subscriber 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*> 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}; UavcanMixingInterface _mixing_output {_node_mutex, _esc_controller};
}; };