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UAVCAN: using only primary interface for servers

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This commit is contained in:
Pavel Kirienko
2015-08-23 21:28:47 +03:00
parent 86279dab6b
commit 8d67483d18
3 changed files with 14 additions and 12 deletions
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11
src/modules/uavcan/uavcan_servers.cpp
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@@ -76,7 +76,7 @@
UavcanServers *UavcanServers::_instance;
UavcanServers::UavcanServers(uavcan::INode &main_node) :
_subnode_thread(-1),
_vdriver(UAVCAN_STM32_NUM_IFACES, uavcan_stm32::SystemClock::instance()),
_vdriver(NumIfaces, uavcan_stm32::SystemClock::instance()),
_subnode(_vdriver, uavcan_stm32::SystemClock::instance()),
_main_node(main_node),
_tracer(),
@@ -101,7 +101,7 @@ UavcanServers::~UavcanServers()
_main_node.getDispatcher().removeRxFrameListener();
}
int UavcanServers::stop(void)
int UavcanServers::stop()
{
UavcanServers *server = instance();
@@ -123,7 +123,7 @@ int UavcanServers::stop(void)
return 0;
}
int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
int UavcanServers::start(uavcan::INode &main_node)
{
if (_instance != nullptr) {
warnx("Already started");
@@ -140,7 +140,7 @@ int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
return -2;
}
int rv = _instance->init(num_ifaces);
int rv = _instance->init();
if (rv < 0) {
warnx("Node init failed: %d", rv);
@@ -174,7 +174,7 @@ int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
return rv;
}
int UavcanServers::init(unsigned num_ifaces)
int UavcanServers::init()
{
errno = 0;
@@ -268,6 +268,7 @@ int UavcanServers::init(unsigned num_ifaces)
return OK;
}
__attribute__((optimize("-O0")))
pthread_addr_t UavcanServers::run(pthread_addr_t)
{