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uavcan_v1: Fix 'unset' port ID (use 65535)

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JacobCrabill
2021-02-24 19:22:11 +01:00
committed by Lorenz Meier
parent 935bf75b61
commit e654fe71f5
3 changed files with 12 additions and 8 deletions
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src/drivers/uavcan_v1/Publishers/Gnss.hpp
+1 -1
View File
@@ -59,7 +59,7 @@ public:
// Update the uORB Subscription and broadcast a UAVCAN message // Update the uORB Subscription and broadcast a UAVCAN message
virtual void update() override virtual void update() override
{ {
if (_gps_sub.updated() && _port_id > 0) { if (_gps_sub.updated() && _port_id != CANARD_PORT_ID_UNSET) {
sensor_gps_s gps {}; sensor_gps_s gps {};
_gps_sub.update(&gps); _gps_sub.update(&gps);
src/drivers/uavcan_v1/Publishers/Publisher.hpp
+5 -3
View File
@@ -53,6 +53,8 @@
class UavcanPublication class UavcanPublication
{ {
public: public:
static constexpr uint16_t CANARD_PORT_ID_UNSET = 65535U;
UavcanPublication(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) : UavcanPublication(CanardInstance &ins, UavcanParamManager &pmgr, const char *uavcan_pname) :
_canard_instance(ins), _param_manager(pmgr), _uavcan_param(uavcan_pname) { }; _canard_instance(ins), _param_manager(pmgr), _uavcan_param(uavcan_pname) { };
@@ -69,7 +71,7 @@ public:
int32_t new_id = value.integer32.value.elements[0]; int32_t new_id = value.integer32.value.elements[0];
if (_port_id != new_id) { if (_port_id != new_id) {
if (new_id == 0) { if (new_id == CANARD_PORT_ID_UNSET) {
PX4_INFO("Disabling publication of %s", _uavcan_param); PX4_INFO("Disabling publication of %s", _uavcan_param);
} else { } else {
@@ -81,7 +83,7 @@ public:
void printInfo() void printInfo()
{ {
if (_port_id > 0) { if (_port_id != CANARD_PORT_ID_UNSET) {
PX4_INFO("Enabled %s on port %d", _uavcan_param, _port_id); PX4_INFO("Enabled %s on port %d", _uavcan_param, _port_id);
} }
} }
@@ -92,6 +94,6 @@ protected:
CanardRxSubscription _canard_sub; CanardRxSubscription _canard_sub;
const char *_uavcan_param; // Port ID parameter const char *_uavcan_param; // Port ID parameter
CanardPortID _port_id {0}; CanardPortID _port_id {CANARD_PORT_ID_UNSET};
CanardTransferID _transfer_id {0}; CanardTransferID _transfer_id {0};
}; };
src/drivers/uavcan_v1/Subscribers/Subscriber.hpp
+6 -4
View File
@@ -53,6 +53,8 @@
class UavcanSubscription class UavcanSubscription
{ {
public: 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 *uavcan_pname) :
_canard_instance(ins), _param_manager(pmgr), _uavcan_param(uavcan_pname) { }; _canard_instance(ins), _param_manager(pmgr), _uavcan_param(uavcan_pname) { };
@@ -71,12 +73,12 @@ public:
int32_t new_id = value.integer32.value.elements[0]; int32_t new_id = value.integer32.value.elements[0];
if (_port_id != new_id) { if (_port_id != new_id) {
if (new_id == 0) { if (new_id == CANARD_PORT_ID_UNSET) {
// Cancel subscription // Cancel subscription
unsubscribe(); unsubscribe();
} else { } else {
if (_port_id > 0) { if (_port_id != CANARD_PORT_ID_UNSET) {
// Already active; unsubscribe first // Already active; unsubscribe first
unsubscribe(); unsubscribe();
} }
@@ -91,7 +93,7 @@ public:
void printInfo() void printInfo()
{ {
if (_port_id > 0) { if (_port_id != CANARD_PORT_ID_UNSET) {
PX4_INFO("Subscribed %s on port %d", _uavcan_param, _port_id); PX4_INFO("Subscribed %s on port %d", _uavcan_param, _port_id);
} }
} }
@@ -103,5 +105,5 @@ protected:
const char *_uavcan_param; // Port ID parameter const char *_uavcan_param; // Port ID parameter
/// TODO: 'type' parameter? uavcan.pub.PORT_NAME.type (see 384.Access.1.0.uavcan) /// TODO: 'type' parameter? uavcan.pub.PORT_NAME.type (see 384.Access.1.0.uavcan)
CanardPortID _port_id {0}; CanardPortID _port_id {CANARD_PORT_ID_UNSET};
}; };