diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/uavcan/sensors/gnss.cpp | 4 | ||||
-rw-r--r-- | src/modules/uavcan/sensors/gnss.hpp | 4 | ||||
-rw-r--r-- | src/modules/uavcan/sensors/mag.cpp | 4 | ||||
-rw-r--r-- | src/modules/uavcan/sensors/mag.hpp | 7 | ||||
-rw-r--r-- | src/modules/uavcan/sensors/sensor_bridge.cpp | 4 | ||||
-rw-r--r-- | src/modules/uavcan/sensors/sensor_bridge.hpp | 2 | ||||
-rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 4 |
7 files changed, 16 insertions, 13 deletions
diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp index fb89b8365..6b69d163f 100644 --- a/src/modules/uavcan/sensors/gnss.cpp +++ b/src/modules/uavcan/sensors/gnss.cpp @@ -45,6 +45,8 @@ #define MM_PER_CM 10 // Millimeters per centimeter +const char *const UavcanGnssBridge::NAME = "gnss"; + UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) : _node(node), _sub_fix(node), @@ -52,8 +54,6 @@ _report_pub(-1) { } -const char *UavcanGnssBridge::get_name() const { return "gnss"; } - int UavcanGnssBridge::init() { int res = -1; diff --git a/src/modules/uavcan/sensors/gnss.hpp b/src/modules/uavcan/sensors/gnss.hpp index 6bdae8de3..db3a515fa 100644 --- a/src/modules/uavcan/sensors/gnss.hpp +++ b/src/modules/uavcan/sensors/gnss.hpp @@ -56,9 +56,11 @@ class UavcanGnssBridge : public IUavcanSensorBridge { public: + static const char *const NAME; + UavcanGnssBridge(uavcan::INode& node); - const char *get_name() const override; + const char *get_name() const override { return NAME; } int init() override; diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp index 6be9e9bac..4f8a5e104 100644 --- a/src/modules/uavcan/sensors/mag.cpp +++ b/src/modules/uavcan/sensors/mag.cpp @@ -37,6 +37,8 @@ #include "mag.hpp" +const char *const UavcanMagnetometerBridge::NAME = "mag"; + UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) : device::CDev("uavcan_mag", "/dev/uavcan/mag"), _sub_mag(node) @@ -53,8 +55,6 @@ UavcanMagnetometerBridge::~UavcanMagnetometerBridge() } } -const char *UavcanMagnetometerBridge::get_name() const { return "mag"; } - int UavcanMagnetometerBridge::init() { // Init the libuavcan subscription diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp index 7f23a0b8f..4bc5129a2 100644 --- a/src/modules/uavcan/sensors/mag.hpp +++ b/src/modules/uavcan/sensors/mag.hpp @@ -46,10 +46,12 @@ class UavcanMagnetometerBridge : public IUavcanSensorBridge, public device::CDev { public: + static const char *const NAME; + UavcanMagnetometerBridge(uavcan::INode& node); ~UavcanMagnetometerBridge() override; - const char *get_name() const override; + const char *get_name() const override { return NAME; } int init() override; @@ -63,8 +65,7 @@ private: (const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>&)> MagCbBinder; - - uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag; + uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag; mag_scale _scale = {}; orb_id_t _orb_id = nullptr; orb_advert_t _orb_advert = -1; diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp index 08fca73c5..2bd662d5c 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.cpp +++ b/src/modules/uavcan/sensors/sensor_bridge.cpp @@ -41,9 +41,9 @@ IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *bridge_name) { - if (!std::strncmp("gnss", bridge_name, MaxNameLen)) { + if (!std::strncmp(UavcanGnssBridge::NAME, bridge_name, MAX_NAME_LEN)) { return new UavcanGnssBridge(node); - } else if (!std::strncmp("mag", bridge_name, MaxNameLen)) { + } else if (!std::strncmp(UavcanMagnetometerBridge::NAME, bridge_name, MAX_NAME_LEN)) { return new UavcanMagnetometerBridge(node); } else { return nullptr; diff --git a/src/modules/uavcan/sensors/sensor_bridge.hpp b/src/modules/uavcan/sensors/sensor_bridge.hpp index 1667c2b57..7bd811813 100644 --- a/src/modules/uavcan/sensors/sensor_bridge.hpp +++ b/src/modules/uavcan/sensors/sensor_bridge.hpp @@ -46,7 +46,7 @@ class IUavcanSensorBridge : uavcan::Noncopyable, public ListNode<IUavcanSensorBridge*> { public: - static constexpr unsigned MaxNameLen = 20; + static constexpr unsigned MAX_NAME_LEN = 20; virtual ~IUavcanSensorBridge() { } diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 71302d928..aca4587ff 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -535,7 +535,7 @@ int UavcanNode::sensor_enable(const char *bridge_name) { auto pos = _sensor_bridges.getHead(); while (pos != nullptr) { - if (!std::strncmp(pos->get_name(), bridge_name, IUavcanSensorBridge::MaxNameLen)) { + if (!std::strncmp(pos->get_name(), bridge_name, IUavcanSensorBridge::MAX_NAME_LEN)) { warnx("sensor bridge '%s' already exists", bridge_name); retval = -1; goto leave; @@ -553,7 +553,7 @@ int UavcanNode::sensor_enable(const char *bridge_name) goto leave; } - assert(!std::strncmp(bridge->get_name(), bridge_name, IUavcanSensorBridge::MaxNameLen)); + assert(!std::strncmp(bridge->get_name(), bridge_name, IUavcanSensorBridge::MAX_NAME_LEN)); retval = bridge->init(); if (retval >= 0) { |