diff --git a/libuavcan/include/uavcan/node/node.hpp b/libuavcan/include/uavcan/node/node.hpp index a80ce6d19f..635e57954d 100644 --- a/libuavcan/include/uavcan/node/node.hpp +++ b/libuavcan/include/uavcan/node/node.hpp @@ -36,7 +36,9 @@ class UAVCAN_EXPORT Node : public INode MemPoolSize = (MemPoolSize_ < std::size_t(MemPoolBlockSize)) ? std::size_t(MemPoolBlockSize) : MemPoolSize_ }; - PoolAllocator pool_allocator_; + typedef PoolAllocator Allocator; + + Allocator pool_allocator_; MarshalBufferProvider marsh_buf_; OutgoingTransferRegistry outgoing_trans_reg_; Scheduler scheduler_; @@ -58,8 +60,6 @@ protected: (void)getLogger().log(protocol::debug::LogLevel::ERROR, "UAVCAN", msg); } - virtual IAllocator& getAllocator() { return pool_allocator_; } - virtual IMarshalBufferProvider& getMarshalBufferProvider() { return marsh_buf_; } public: @@ -74,6 +74,8 @@ public: , started_(false) { } + virtual Allocator& getAllocator() { return pool_allocator_; } + virtual Scheduler& getScheduler() { return scheduler_; } virtual const Scheduler& getScheduler() const { return scheduler_; }