From 0246dd990ee0749c2fbc82f71d59c3e0518ff68d Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 Nov 2019 17:29:03 +1100
Subject: [PATCH] AP_RangeFinder: make MaxsonarSerialLV backend use new
 intermediate class

---
 .../AP_RangeFinder_MaxsonarSerialLV.cpp       | 33 ++-----------------
 .../AP_RangeFinder_MaxsonarSerialLV.h         | 12 ++-----
 2 files changed, 5 insertions(+), 40 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
index 4e28464801..d89d611a6e 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
@@ -15,42 +15,15 @@
  * with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
-#include <AP_SerialManager/AP_SerialManager.h>
-#include <ctype.h>
 #include "AP_RangeFinder_MaxsonarSerialLV.h"
 
+#include <AP_HAL/AP_HAL.h>
+#include <ctype.h>
+
 #define MAXSONAR_SERIAL_LV_BAUD_RATE 9600
 
 extern const AP_HAL::HAL& hal;
 
-/* 
-   The constructor also initialises the rangefinder. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the rangefinder
-*/
-AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
-                                                                 AP_RangeFinder_Params &_params,
-                                                                 uint8_t serial_instance) :
-    AP_RangeFinder_Backend(_state, _params)
-{
-    const AP_SerialManager &serial_manager = AP::serialmanager();
-    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
-    if (uart != nullptr) {
-        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
-    }
-}
-
-/* 
-   detect if a MaxSonar rangefinder is connected. We'll detect by
-   trying to take a reading on Serial. If we get a result the sensor is
-   there.
-*/
-bool AP_RangeFinder_MaxsonarSerialLV::detect(uint8_t serial_instance)
-{
-    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
-}
-
 // read - return last value measured by sensor
 bool AP_RangeFinder_MaxsonarSerialLV::get_reading(uint16_t &reading_cm)
 {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
index 287a360f3e..0866e7689c 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
@@ -1,19 +1,12 @@
 #pragma once
 
 #include "RangeFinder.h"
-#include "RangeFinder_Backend.h"
+#include "RangeFinder_Backend_Serial.h"
 
-class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend
+class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend_Serial
 {
 
 public:
-    // constructor
-    AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
-                                   AP_RangeFinder_Params &_params,
-                                   uint8_t serial_instance);
-
-    // static detection function
-    static bool detect(uint8_t serial_instance);
 
     // update state
     void update(void) override;
@@ -28,7 +21,6 @@ private:
     // get a reading
     bool get_reading(uint16_t &reading_cm);
 
-    AP_HAL::UARTDriver *uart = nullptr;
     char linebuf[10];
     uint8_t linebuf_len = 0;
 };