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uavcan_v1: Rename Publication --> Publisher

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This commit is contained in:
JacobCrabill
2021-02-24 19:22:11 +01:00
committed by Lorenz Meier
parent d1eda5ee84
commit c8e66a2f5c
4 changed files with 9 additions and 9 deletions
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src/drivers/uavcan_v1/Actuators/EscClient.hpp
+2 -2
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@@ -62,13 +62,13 @@
#include <reg/drone/service/common/Readiness_0_1.h>
/// TODO: Allow derived class of Subscription at same time, to handle ESC Feedback/Status
class UavcanEscController : public UavcanPublication
class UavcanEscController : public UavcanPublisher
{
public:
static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;
UavcanEscController(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
UavcanPublication(ins, pmgr, uavcan_pname) { };
UavcanPublisher(ins, pmgr, uavcan_pname) { };
~UavcanEscController() {};
src/drivers/uavcan_v1/Publishers/Gnss.hpp
+3 -3
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@@ -47,11 +47,11 @@
#include "Publisher.hpp"
class UavcanGnssPublication : public UavcanPublication
class UavcanGnssPublisher : public UavcanPublisher
{
public:
UavcanGnssPublication(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
UavcanPublication(ins, pmgr, uavcan_pname)
UavcanGnssPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
UavcanPublisher(ins, pmgr, uavcan_pname)
{
};
src/drivers/uavcan_v1/Publishers/Publisher.hpp
+2 -2
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@@ -50,12 +50,12 @@
#include "../CanardInterface.hpp"
#include "../ParamManager.hpp"
class UavcanPublication
class UavcanPublisher
{
public:
static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
UavcanPublication(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
UavcanPublisher(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
_canard_instance(ins), _param_manager(pmgr), _uavcan_param(uavcan_pname) { };
// Update the uORB Subscription and broadcast a UAVCAN message
src/drivers/uavcan_v1/Uavcan.hpp
+2 -2
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@@ -238,13 +238,13 @@ private:
UavcanParamManager _param_manager;
UavcanGnssPublication _gps_pub {_canard_instance, _param_manager, "uavcan.pub.gps.0.id"};
UavcanGnssPublisher _gps_pub {_canard_instance, _param_manager, "uavcan.pub.gps.0.id"};
UavcanEscController _esc_controller {_canard_instance, _param_manager, "uavcan.pub.esc.0.id"};
// 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
UavcanPublication *_publishers[2] {&_gps_pub, &_esc_controller};
UavcanPublisher *_publishers[2] {&_gps_pub, &_esc_controller};
UavcanGnssSubscription _gps0_sub {_canard_instance, _param_manager, "uavcan.sub.gps.0.id"};
UavcanGnssSubscription _gps1_sub {_canard_instance, _param_manager, "uavcan.sub.gps.1.id"};