Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Rangefinder: fix override in constructor

This commit is contained in:
Pierre Kancir 2021-06-04 23:36:24 +02:00 committed by Randy Mackay
parent 8209a5ac5c
commit 21de22f10d
7 changed files with 28 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
libraries/AP_RangeFinder/AP_RangeFinder.cpp
View File

@ -314,7 +314,7 @@ void RangeFinder::update(void)
#endif
}
bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend, uint8_t instance)
bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend, uint8_t instance, uint8_t serial_instance)
{
if (!backend) {
return false;
@ -326,7 +326,7 @@ bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend, uint8_t instance
// we've allocated the same instance twice
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
}
backend->init_serial(serial_instance);
drivers[instance] = backend;
num_instances = MAX(num_instances, instance+1);
@ -442,17 +442,17 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break;
case Type::LWSER:
if (AP_RangeFinder_LightWareSerial::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_LightWareSerial(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_LightWareSerial(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::LEDDARONE:
if (AP_RangeFinder_LeddarOne::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_LeddarOne(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_LeddarOne(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::ULANDING:
if (AP_RangeFinder_uLanding::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_uLanding(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_uLanding(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::BEBOP:
@ -472,7 +472,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break;
case Type::MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_MaxsonarSerialLV(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_MaxsonarSerialLV(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::ANALOG:
@ -493,27 +493,27 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break;
case Type::NMEA:
if (AP_RangeFinder_NMEA::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_NMEA(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_NMEA(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::WASP:
if (AP_RangeFinder_Wasp::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Wasp(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_Wasp(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::BenewakeTF02:
if (AP_RangeFinder_Benewake_TF02::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Benewake_TF02(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_Benewake_TF02(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::BenewakeTFmini:
if (AP_RangeFinder_Benewake_TFMini::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Benewake_TFMini(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_Benewake_TFMini(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::BenewakeTF03:
if (AP_RangeFinder_Benewake_TF03::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Benewake_TF03(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_Benewake_TF03(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::PWM:
@ -525,17 +525,17 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break;
case Type::BLPing:
if (AP_RangeFinder_BLPing::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_BLPing(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_BLPing(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::Lanbao:
if (AP_RangeFinder_Lanbao::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Lanbao(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_Lanbao(state[instance], params[instance]), instance, serial_instance++);
}
break;
case Type::LeddarVu8_Serial:
if (AP_RangeFinder_LeddarVu8::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_LeddarVu8(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_LeddarVu8(state[instance], params[instance]), instance, serial_instance++);
}
break;
@ -552,7 +552,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
case Type::GYUS42v2:
if (AP_RangeFinder_GYUS42v2::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_GYUS42v2(state[instance], params[instance], serial_instance++), instance);
_add_backend(new AP_RangeFinder_GYUS42v2(state[instance], params[instance]), instance, serial_instance++);
}
break;

2
libraries/AP_RangeFinder/AP_RangeFinder.h
View File

@ -212,7 +212,7 @@ private:
void detect_instance(uint8_t instance, uint8_t& serial_instance);
bool _add_backend(AP_RangeFinder_Backend *driver, uint8_t instance);
bool _add_backend(AP_RangeFinder_Backend *driver, uint8_t instance, uint8_t serial_instance=0);
uint32_t _log_rfnd_bit = -1;
void Log_RFND() const;

1
libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
View File

@ -30,6 +30,7 @@ public:
// update the state structure
virtual void update() = 0;
virtual void init_serial(uint8_t serial_instance) {};
virtual void handle_msg(const mavlink_message_t &msg) { return; }
#if HAL_MSP_RANGEFINDER_ENABLED

8
libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.cpp
View File

@ -28,9 +28,13 @@ extern const AP_HAL::HAL& hal;
*/
AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial(
RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance) :
AP_RangeFinder_Params &_params) :
AP_RangeFinder_Backend(_state, _params)
{
}
void AP_RangeFinder_Backend_Serial::init_serial(uint8_t serial_instance)
{
uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) {

4
libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.h
View File

@ -7,9 +7,9 @@ class AP_RangeFinder_Backend_Serial : public AP_RangeFinder_Backend
public:
// constructor
AP_RangeFinder_Backend_Serial(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance);
AP_RangeFinder_Params &_params);
void init_serial(uint8_t serial_instance) override;
// static detection function
static bool detect(uint8_t serial_instance);

5
libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
View File

@ -67,9 +67,8 @@ const AP_Param::GroupInfo AP_RangeFinder_Wasp::var_info[] = {
};
AP_RangeFinder_Wasp::AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance) :
AP_RangeFinder_Backend_Serial(_state, _params, serial_instance)
AP_RangeFinder_Params &_params) :
AP_RangeFinder_Backend_Serial(_state, _params)
{
AP_Param::setup_object_defaults(this, var_info);

3
libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
View File

@ -10,8 +10,7 @@ class AP_RangeFinder_Wasp : public AP_RangeFinder_Backend_Serial {
public:
AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance);
AP_RangeFinder_Params &_params);
void update(void) override;