From 0d4e72622e0fc38d013fd67902ea8976b53e152c Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 4 Dec 2019 15:53:05 +1100
Subject: [PATCH] AP_Proximity: RPLidarA2 uses intermediate serial class

---
 .../AP_Proximity/AP_Proximity_RPLidarA2.cpp   | 27 -------------------
 .../AP_Proximity/AP_Proximity_RPLidarA2.h     | 10 +++----
 2 files changed, 3 insertions(+), 34 deletions(-)

diff --git a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
index b8e5f0f7c6..eac134559f 100644
--- a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
@@ -28,7 +28,6 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_RPLidarA2.h"
-#include <AP_SerialManager/AP_SerialManager.h>
 #include <ctype.h>
 #include <stdio.h>
 
@@ -64,32 +63,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-/*
-   The constructor also initialises the proximity sensor. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the proximity sensor
- */
-AP_Proximity_RPLidarA2::AP_Proximity_RPLidarA2(
-    AP_Proximity &_frontend,
-    AP_Proximity::Proximity_State &_state) :
-    AP_Proximity_Backend(_frontend, _state)
-{
-    const AP_SerialManager &serial_manager = AP::serialmanager();
-    _uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
-    if (_uart != nullptr) {
-        _uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0));
-    }
-    _cnt = 0 ;
-    _sync_error = 0 ;
-    _byte_count = 0;
-}
-
-// detect if a RPLidarA2 proximity sensor is connected by looking for a configured serial port
-bool AP_Proximity_RPLidarA2::detect()
-{
-    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
-}
-
 // update the _rp_state of the sensor
 void AP_Proximity_RPLidarA2::update(void)
 {
diff --git a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
index 85aae9bc9e..6238ceca33 100644
--- a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
+++ b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
@@ -30,19 +30,16 @@
 #pragma once
 
 #include "AP_Proximity.h"
-#include "AP_Proximity_Backend.h"
+#include "AP_Proximity_Backend_Serial.h"
 #include <AP_HAL/AP_HAL.h>                   ///< for UARTDriver
 
 
-class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend
+class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend_Serial
 {
 
 public:
-    // constructor
-    AP_Proximity_RPLidarA2(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
 
-    // static detection function
-    static bool detect();
+    using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
 
     // update state
     void update(void) override;
@@ -79,7 +76,6 @@ private:
     void reset_rplidar();
 
     // reply related variables
-    AP_HAL::UARTDriver *_uart;
     uint8_t _descriptor[7];
     char _rp_systeminfo[63];
     bool _descriptor_data;