From 6ebd59c633db0d610f63eeb06c5c867da34740e0 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 22 Aug 2014 15:52:35 +0400
Subject: [PATCH] UAVCAN: improved sensor bridge factory

---
 src/modules/uavcan/sensors/gnss.cpp          | 4 ++--
 src/modules/uavcan/sensors/gnss.hpp          | 4 +++-
 src/modules/uavcan/sensors/mag.cpp           | 4 ++--
 src/modules/uavcan/sensors/mag.hpp           | 7 ++++---
 src/modules/uavcan/sensors/sensor_bridge.cpp | 4 ++--
 src/modules/uavcan/sensors/sensor_bridge.hpp | 2 +-
 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 fb89b8365f..6b69d163f3 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 6bdae8de34..db3a515fa7 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 6be9e9bac8..4f8a5e1046 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 7f23a0b8f9..4bc5129a2f 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 08fca73c53..2bd662d5ce 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 1667c2b57d..7bd8118133 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 71302d9282..aca4587fff 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) {