UAVCAN: improved sensor bridge factory

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;

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;
 

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

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;

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;

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() { }
 

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) {