From cdb6a437a0f030603ad5341e497946c8d21e784e Mon Sep 17 00:00:00 2001
From: alexklimaj <alex@arkelectron.com>
Date: Wed, 12 Jan 2022 12:50:38 -0700
Subject: [PATCH] Fix UAVCAN beep not started

---
 src/drivers/uavcan/beep.cpp        | 8 ++++----
 src/drivers/uavcan/beep.hpp        | 7 ++++---
 src/drivers/uavcan/uavcan_main.cpp | 7 +++++++
 src/drivers/uavcan/uavcan_main.hpp | 1 +
 4 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/src/drivers/uavcan/beep.cpp b/src/drivers/uavcan/beep.cpp
index 6538ef7bbb..da5a65cba3 100644
--- a/src/drivers/uavcan/beep.cpp
+++ b/src/drivers/uavcan/beep.cpp
@@ -41,14 +41,14 @@
 
 #include <lib/circuit_breaker/circuit_breaker.h>
 
-UavcanBeep::UavcanBeep(uavcan::INode &node) :
+UavcanBeepController::UavcanBeepController(uavcan::INode &node) :
 	_beep_pub(node),
 	_timer(node)
 {
 	_beep_pub.setPriority(uavcan::TransferPriority::MiddleLower);
 }
 
-int UavcanBeep::init()
+int UavcanBeepController::init()
 {
 	// don't initialize if CBRK_BUZZER circuit breaker is enabled.
 	if (circuit_breaker_enabled("CBRK_BUZZER", CBRK_BUZZER_KEY)) {
@@ -59,14 +59,14 @@ int UavcanBeep::init()
 	 * Setup timer and call back function for periodic updates
 	 */
 	if (!_timer.isRunning()) {
-		_timer.setCallback(TimerCbBinder(this, &UavcanBeep::periodic_update));
+		_timer.setCallback(TimerCbBinder(this, &UavcanBeepController::periodic_update));
 		_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
 	}
 
 	return 0;
 }
 
-void UavcanBeep::periodic_update(const uavcan::TimerEvent &)
+void UavcanBeepController::periodic_update(const uavcan::TimerEvent &)
 {
 	if (_tune_control_sub.updated()) {
 		_tune_control_sub.copy(&_tune);
diff --git a/src/drivers/uavcan/beep.hpp b/src/drivers/uavcan/beep.hpp
index f5c45b1079..1ce9a0d035 100644
--- a/src/drivers/uavcan/beep.hpp
+++ b/src/drivers/uavcan/beep.hpp
@@ -48,10 +48,10 @@
 #include <uORB/topics/tune_control.h>
 #include <lib/tunes/tunes.h>
 
-class UavcanBeep
+class UavcanBeepController
 {
 public:
-	UavcanBeep(uavcan::INode &node);
+	UavcanBeepController(uavcan::INode &node);
 
 	/*
 	* setup periodic updater
@@ -69,7 +69,8 @@ private:
 	 */
 	void periodic_update(const uavcan::TimerEvent &);
 
-	typedef uavcan::MethodBinder<UavcanBeep *, void (UavcanBeep::*)(const uavcan::TimerEvent &)> TimerCbBinder;
+	typedef uavcan::MethodBinder<UavcanBeepController *, void (UavcanBeepController::*)(const uavcan::TimerEvent &)>
+	TimerCbBinder;
 
 	/*
 	 * Subscription tune_control
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index 3a2575c6a2..fb094d0ed6 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -81,6 +81,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
 	ModuleParams(nullptr),
 	_node(can_driver, system_clock, _pool_allocator),
+	_beep_controller(_node),
 	_esc_controller(_node),
 	_servo_controller(_node),
 	_hardpoint_controller(_node),
@@ -506,6 +507,12 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 
 	fill_node_info();
 
+	ret = _beep_controller.init();
+
+	if (ret < 0) {
+		return ret;
+	}
+
 	// Actuators
 	ret = _esc_controller.init();
 
diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp
index 4e9d04aa72..57b78aeaf0 100644
--- a/src/drivers/uavcan/uavcan_main.hpp
+++ b/src/drivers/uavcan/uavcan_main.hpp
@@ -226,6 +226,7 @@ private:
 	uavcan::Node<>			_node;				///< library instance
 	pthread_mutex_t			_node_mutex;
 
+	UavcanBeepController		_beep_controller;
 	UavcanEscController		_esc_controller;
 	UavcanServoController		_servo_controller;
 	UavcanMixingInterfaceESC 	_mixing_interface_esc{_node_mutex, _esc_controller};