uavcan_v1: Refactor Pub/Sub class constrctors

Each class now sets the 'subject name', and the base class looks for a
parameter following the format uavcan.pub/sub.SUBJECT_NAME.INSTANCE.id

src/drivers/uavcan_v1/Actuators/EscClient.hpp

@@ -67,8 +67,8 @@ class UavcanEscController : public UavcanPublisher
 public:
 	static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;
 
-	UavcanEscController(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
+	UavcanEscController(CanardInstance &ins, UavcanParamManager &pmgr) :
-		UavcanPublisher(ins, pmgr, uavcan_pname) { };
+		UavcanPublisher(ins, pmgr, "esc") { };
 
 	~UavcanEscController() {};
 

src/drivers/uavcan_v1/Publishers/Gnss.hpp

@@ -50,8 +50,8 @@
 class UavcanGnssPublisher : public UavcanPublisher
 {
 public:
-	UavcanGnssPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
+	UavcanGnssPublisher(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
-		UavcanPublisher(ins, pmgr, uavcan_pname)
+		UavcanPublisher(ins, pmgr, "gps", instance)
 	{
 
 	};

src/drivers/uavcan_v1/Publishers/Publisher.hpp

@@ -55,8 +55,8 @@ class UavcanPublisher
 public:
 	static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
 
-	UavcanPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
+	UavcanPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, uint8_t instance = 0) :
-		_canard_instance(ins), _param_manager(pmgr), _uavcan_param(uavcan_pname) { };
+		_canard_instance(ins), _param_manager(pmgr), _subject_name(subject_name), _instance(instance) { };
 
 	// Update the uORB Subscription and broadcast a UAVCAN message
 	virtual void update() = 0;
@@ -65,18 +65,21 @@ public:
 
 	void updateParam()
 	{
+		char uavcan_param[90];
+		sprintf(uavcan_param, "uavcan.pub.%s.%d.id", _subject_name, _instance);
+
 		// Set _port_id from _uavcan_param
 		uavcan_register_Value_1_0 value;
-		_param_manager.GetParamByName(_uavcan_param, value);
+		_param_manager.GetParamByName(uavcan_param, value);
 		int32_t new_id = value.integer32.value.elements[0];
 
 		if (_port_id != new_id) {
 			if (new_id == CANARD_PORT_ID_UNSET) {
-				PX4_INFO("Disabling publication of %s", _uavcan_param);
+				PX4_INFO("Disabling publication of subject %s.%d", _subject_name, _instance);
 
 			} else {
 				_port_id = (CanardPortID)new_id;
-				PX4_INFO("Enabling %s on port %d", _uavcan_param, _port_id);
+				PX4_INFO("Enabling subject %s.%d on port %d", _subject_name, _instance, _port_id);
 			}
 		}
 	};
@@ -84,7 +87,7 @@ public:
 	void printInfo()
 	{
 		if (_port_id != CANARD_PORT_ID_UNSET) {
-			PX4_INFO("Enabled %s on port %d", _uavcan_param, _port_id);
+			PX4_INFO("Enabled subject %s.%d on port %d", _subject_name, _instance, _port_id);
 		}
 	}
 
@@ -92,7 +95,8 @@ protected:
 	CanardInstance &_canard_instance;
 	UavcanParamManager &_param_manager;
 	CanardRxSubscription _canard_sub;
-	const char *_uavcan_param; // Port ID parameter
+	const char *_subject_name;
+	uint8_t _instance {0};
 
 	CanardPortID _port_id {CANARD_PORT_ID_UNSET};
 	CanardTransferID _transfer_id {0};

src/drivers/uavcan_v1/Subscribers/Battery.hpp

@@ -50,8 +50,8 @@
 class UavcanBmsSubscription : public UavcanSubscription
 {
 public:
-	UavcanBmsSubscription(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
+	UavcanBmsSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
-		UavcanSubscription(ins, pmgr, uavcan_pname) { };
+		UavcanSubscription(ins, pmgr, "bms", instance) { };
 
 	void subscribe() override
 	{

src/drivers/uavcan_v1/Subscribers/Esc.hpp

@@ -54,8 +54,8 @@
 class UavcanEscSubscription : public UavcanSubscription
 {
 public:
-	UavcanEscSubscription(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
+	UavcanEscSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
-		UavcanSubscription(ins, pmgr, uavcan_pname) { };
+		UavcanSubscription(ins, pmgr, "esc", instance) { };
 
 	void subscribe() override
 	{

src/drivers/uavcan_v1/Subscribers/Gnss.hpp

@@ -49,8 +49,8 @@
 class UavcanGnssSubscription : public UavcanSubscription
 {
 public:
-	UavcanGnssSubscription(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
+	UavcanGnssSubscription(CanardInstance &ins, UavcanParamManager &pmgr, uint8_t instance = 0) :
-		UavcanSubscription(ins, pmgr, uavcan_pname) { };
+		UavcanSubscription(ins, pmgr, "gps", instance) { };
 
 	void subscribe() override
 	{

src/drivers/uavcan_v1/Subscribers/Subscriber.hpp

@@ -55,8 +55,8 @@ class UavcanSubscription
 public:
 	static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
 
-	UavcanSubscription(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
+	UavcanSubscription(CanardInstance &ins, UavcanParamManager &pmgr, const char *subject_name, uint8_t instance = 0) :
-		_canard_instance(ins), _param_manager(pmgr), _uavcan_param(uavcan_pname) { };
+		_canard_instance(ins), _param_manager(pmgr), _subject_name(subject_name), _instance(instance) { };
 
 	virtual void subscribe() = 0;
 	virtual void unsubscribe() { canardRxUnsubscribe(&_canard_instance, CanardTransferKindMessage, _port_id); };
@@ -67,9 +67,12 @@ public:
 
 	void updateParam()
 	{
+		char uavcan_param[90];
+		sprintf(uavcan_param, "uavcan.sub.%s.%d.id", _subject_name, _instance);
+
 		// Set _port_id from _uavcan_param
 		uavcan_register_Value_1_0 value;
-		_param_manager.GetParamByName(_uavcan_param, value);
+		_param_manager.GetParamByName(uavcan_param, value);
 		int32_t new_id = value.integer32.value.elements[0];
 
 		if (_port_id != new_id) {
@@ -85,7 +88,7 @@ public:
 
 				// Subscribe on the new port ID
 				_port_id = (CanardPortID)new_id;
-				PX4_INFO("Subscribing %s on port %d", _uavcan_param, _port_id);
+				PX4_INFO("Subscribing %s.%d on port %d", _subject_name, _instance, _port_id);
 				subscribe();
 			}
 		}
@@ -94,7 +97,7 @@ public:
 	void printInfo()
 	{
 		if (_port_id != CANARD_PORT_ID_UNSET) {
-			PX4_INFO("Subscribed %s on port %d", _uavcan_param, _port_id);
+			PX4_INFO("Subscribed %s.%d on port %d", _subject_name, _instance, _port_id);
 		}
 	}
 
@@ -102,7 +105,8 @@ protected:
 	CanardInstance &_canard_instance;
 	UavcanParamManager &_param_manager;
 	CanardRxSubscription _canard_sub;
-	const char *_uavcan_param; // Port ID parameter
+	const char *_subject_name;
+	uint8_t _instance {0};
 	/// TODO: 'type' parameter? uavcan.pub.PORT_NAME.type (see 384.Access.1.0.uavcan)
 
 	CanardPortID _port_id {CANARD_PORT_ID_UNSET};

src/drivers/uavcan_v1/Uavcan.hpp

@@ -238,19 +238,19 @@ private:
 
 	UavcanParamManager _param_manager;
 
-	UavcanGnssPublisher _gps_pub {_canard_instance, _param_manager, "uavcan.pub.gps.0.id"};
+	UavcanGnssPublisher _gps_pub {_canard_instance, _param_manager};
 
-	UavcanEscController _esc_controller {_canard_instance, _param_manager, "uavcan.pub.esc.0.id"};
+	UavcanEscController _esc_controller {_canard_instance, _param_manager};
 
 	// Publication objects: Any object used to bridge a uORB message to a UAVCAN message
 	/// 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, "uavcan.sub.gps.0.id"};
+	UavcanGnssSubscription _gps0_sub {_canard_instance, _param_manager, 0};
-	UavcanGnssSubscription _gps1_sub {_canard_instance, _param_manager, "uavcan.sub.gps.1.id"};
+	UavcanGnssSubscription _gps1_sub {_canard_instance, _param_manager, 1};
-	UavcanBmsSubscription  _bms0_sub {_canard_instance, _param_manager, "uavcan.sub.bms.0.id"};
+	UavcanBmsSubscription  _bms0_sub {_canard_instance, _param_manager, 0};
-	UavcanBmsSubscription  _bms1_sub {_canard_instance, _param_manager, "uavcan.sub.bms.1.id"};
+	UavcanBmsSubscription  _bms1_sub {_canard_instance, _param_manager, 1};
-	UavcanEscSubscription  _esc_sub  {_canard_instance, _param_manager, "uavcan.sub.esc.0.id"};
+	UavcanEscSubscription  _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*>