Revise VescWritableInterface

src/drivers/vesc/VescDriver/VescDriver.cpp

@@ -122,13 +122,7 @@ size_t VescDriver::sendPacket(const uint8_t *payload, uint16_t payload_length, c
 	packet_buffer[index++] = 3;
 
 	// Write bytes out through callback interface
-	size_t ret{0};
-
-	if (_vesc_writable) {
-		ret = _vesc_writable->writeCallback(packet_buffer, index);
-	}
-
-	return ret;
+	return _vesc_writable.writeCallback(packet_buffer, index);
 }
 
 void VescDriver::parseInputByte(uint8_t byte)

src/drivers/vesc/VescDriver/VescDriver.hpp

@@ -41,14 +41,14 @@
 #pragma once
 
 #include "VescProtocol.h"
-#include "VescWritable.hpp"
+#include "VescWritableInterface.hpp"
 #include <stdint.h>
 #include <stdio.h>
 
 class VescDriver
 {
 public:
-	VescDriver(VescWritable *vesc_writable) : _vesc_writable(vesc_writable) {};
+	VescDriver(VescWritableInterface &vesc_writable) : _vesc_writable(vesc_writable) {};
 	~VescDriver() = default;
 
 	void commandDutyCycle(float duty_cycle, const uint8_t forward_can_id = 0);
@@ -79,7 +79,7 @@ private:
 	float extractFloat32(const uint8_t *buffer, uint16_t &index);
 
 	// Write access to device through callback
-	VescWritable *_vesc_writable;
+	VescWritableInterface &_vesc_writable;
 
 	// Input packet parsing
 	size_t _input_byte_index{0}; ///< keeps track of the input packets parsing state

src/drivers/vesc/VescDriver/VescWritableInterface.hpp

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file VescWritable.hpp
+ * @file VescWritableInterface.hpp
  * @brief Interface calls defining the write callback for VESC communication
  * @details To keep the driver cross-platform compatible the device owner class
  * needs to implement this interface and pass itself to the driver via constructor
@@ -43,12 +43,8 @@
 #include <stdint.h>
 #include <stdio.h>
 
-class VescWritable
+class VescWritableInterface
 {
 public:
-	VescWritable() = default;
-	~VescWritable() = default;
 	virtual size_t writeCallback(const uint8_t *buffer, const uint16_t length) = 0;
-
-private:
 };

src/drivers/vesc/VescSerialDevice.cpp

@@ -45,7 +45,7 @@ using namespace time_literals;
 
 VescDevice::VescDevice(const char *port) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
-	_vesc_driver(this)
+	_vesc_driver(*this)
 {
 	// Store port name
 	strncpy(_port, port, sizeof(_port) - 1);

src/drivers/vesc/VescSerialDevice.hpp

@@ -40,7 +40,7 @@
 #include "VescDriver/VescDriver.hpp"
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
-class VescDevice : public px4::ScheduledWorkItem, public VescWritable
+class VescDevice : public px4::ScheduledWorkItem, public VescWritableInterface
 {
 public:
 	VescDevice(const char *port);