Fix breaking changes introduced by 107-Arduino-Cyphal:v3.4.0. (#53)

107-systems · Aug 11, 2023 · b006268 · b006268
1 parent 10e5783
commit b006268
Showing 1 changed file with 7 additions and 7 deletions.
diff --git a/l3xz-leg-ctrl-firmware.ino b/l3xz-leg-ctrl-firmware.ino
@@ -87,15 +87,15 @@ ArduinoMCP2515 mcp2515([]()
                        [](MCP2515::EFLG const err_flag) { DBG_ERROR("MCP2515::OnError, error code = \"%s\"", MCP2515::toStr(err_flag)); },
                        [](MCP2515::EFLG const err_flag) { DBG_ERROR("MCP2515::OnWarning, warning code = \"%s\"", MCP2515::toStr(err_flag)); });
 
-Node::Heap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
-Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
+cyphal::Node::Heap<cyphal::Node::DEFAULT_O1HEAP_SIZE> node_heap;
+cyphal::Node node_hdl(node_heap.data(), node_heap.size(), micros, [] (CanardFrame const & frame) { return mcp2515.transmit(frame); });
 
-Publisher<uavcan::node::Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<uavcan::node::Heartbeat_1_0>(1*1000*1000UL /* = 1 sec in usecs. */);
-Publisher<uavcan::si::unit::angle::Scalar_1_0> as5048a_pub;
-Publisher<uavcan::si::unit::angle::Scalar_1_0> as5048b_pub;
-Publisher<uavcan::primitive::scalar::Bit_1_0> bumper_pub;
+cyphal::Publisher<uavcan::node::Heartbeat_1_0> heartbeat_pub = node_hdl.create_publisher<uavcan::node::Heartbeat_1_0>(1*1000*1000UL /* = 1 sec in usecs. */);
+cyphal::Publisher<uavcan::si::unit::angle::Scalar_1_0> as5048a_pub;
+cyphal::Publisher<uavcan::si::unit::angle::Scalar_1_0> as5048b_pub;
+cyphal::Publisher<uavcan::primitive::scalar::Bit_1_0> bumper_pub;
 
-ServiceServer execute_command_srv = node_hdl.create_service_server<uavcan::node::ExecuteCommand::Request_1_1, uavcan::node::ExecuteCommand::Response_1_1>(2*1000*1000UL, onExecuteCommand_1_1_Request_Received);
+cyphal::ServiceServer execute_command_srv = node_hdl.create_service_server<uavcan::node::ExecuteCommand::Request_1_1, uavcan::node::ExecuteCommand::Response_1_1>(2*1000*1000UL, onExecuteCommand_1_1_Request_Received);
 
 ArduinoAS504x angle_A_pos_sensor([]() { SPI.beginTransaction(AS504x_SPI_SETTING); },
                                  []() { SPI.endTransaction(); },