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AP_Rangefinder: support multiple serial rangefinders

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This commit is contained in:
Francisco Ferreira 2018-02-23 12:11:47 +00:00 committed by Randy Mackay
parent 5999421c72
commit 45531775cd
10 changed files with 49 additions and 39 deletions
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11
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -25,12 +25,13 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the rangefinder
*/
AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) :
AP_SerialManager &serial_manager,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, serial_instance);
if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0));
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, serial_instance));
}
}
@ -39,9 +40,9 @@ AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_Stat
trying to take a reading on Serial. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_LeddarOne::detect(AP_SerialManager &serial_manager)
bool AP_RangeFinder_LeddarOne::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
{
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, serial_instance) != nullptr;
}
// read - return last value measured by sensor

5
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
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@ -43,10 +43,11 @@ class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
public:
// constructor
AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager);
AP_SerialManager &serial_manager,
uint8_t serial_instance);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
// update state
void update(void);

11
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
View File

@ -26,12 +26,13 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the rangefinder
*/
AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) :
AP_SerialManager &serial_manager,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, serial_instance);
if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0));
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, serial_instance));
}
}
@ -40,9 +41,9 @@ AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::Rang
trying to take a reading on Serial. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_LightWareSerial::detect(AP_SerialManager &serial_manager)
bool AP_RangeFinder_LightWareSerial::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
{
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, serial_instance) != nullptr;
}
// read - return last value measured by sensor

5
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
View File

@ -9,10 +9,11 @@ class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend
public:
// constructor
AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager);
AP_SerialManager &serial_manager,
uint8_t serial_instance);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
// update state
void update(void);

11
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
View File

@ -30,12 +30,13 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the rangefinder
*/
AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) :
AP_SerialManager &serial_manager,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, serial_instance);
if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, 0));
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar, serial_instance));
}
}
@ -44,9 +45,9 @@ AP_RangeFinder_MaxsonarSerialLV::AP_RangeFinder_MaxsonarSerialLV(RangeFinder::Ra
trying to take a reading on Serial. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_MaxsonarSerialLV::detect(AP_SerialManager &serial_manager)
bool AP_RangeFinder_MaxsonarSerialLV::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
{
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, serial_instance) != nullptr;
}
// read - return last value measured by sensor

5
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
View File

@ -9,10 +9,11 @@ class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend
public:
// constructor
AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager);
AP_SerialManager &serial_manager,
uint8_t serial_instance);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
// update state
void update(void);

9
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
View File

@ -33,10 +33,11 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the rangefinder
*/
AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager) :
AP_SerialManager &serial_manager,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state)
{
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0);
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, serial_instance);
if (uart != nullptr) {
uart->begin(ULANDING_BAUD, ULANDING_BUFSIZE_RX, ULANDING_BUFSIZE_TX);
}
@ -47,9 +48,9 @@ AP_RangeFinder_uLanding::AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State
trying to take a reading on Serial. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_uLanding::detect(AP_SerialManager &serial_manager)
bool AP_RangeFinder_uLanding::detect(AP_SerialManager &serial_manager, uint8_t serial_instance)
{
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, 0) != nullptr;
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar, serial_instance) != nullptr;
}
/*

5
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h
View File

@ -9,10 +9,11 @@ class AP_RangeFinder_uLanding : public AP_RangeFinder_Backend
public:
// constructor
AP_RangeFinder_uLanding(RangeFinder::RangeFinder_State &_state,
AP_SerialManager &serial_manager);
AP_SerialManager &serial_manager,
uint8_t serial_instance);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
static bool detect(AP_SerialManager &serial_manager, uint8_t serial_instance);
// update state
void update(void);

24
libraries/AP_RangeFinder/RangeFinder.cpp
View File

@ -553,8 +553,10 @@ void RangeFinder::init(void)
// init called a 2nd time?
return;
}
for (uint8_t i=0; i<RANGEFINDER_MAX_INSTANCES; i++) {
detect_instance(i);
for (uint8_t i=0, serial_instance = 0; i<RANGEFINDER_MAX_INSTANCES; i++) {
// serial_instance will be increased inside detect_instance
// if a serial driver is loaded for this instance
detect_instance(i, serial_instance);
if (drivers[i] != nullptr) {
// we loaded a driver for this instance, so it must be
// present (although it may not be healthy)
@ -607,7 +609,7 @@ bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend)
/*
detect if an instance of a rangefinder is connected.
*/
void RangeFinder::detect_instance(uint8_t instance)
void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
{
enum RangeFinder_Type _type = (enum RangeFinder_Type)state[instance].type.get();
switch (_type) {
@ -671,21 +673,21 @@ void RangeFinder::detect_instance(uint8_t instance)
break;
#endif
case RangeFinder_TYPE_LWSER:
if (AP_RangeFinder_LightWareSerial::detect(serial_manager)) {
if (AP_RangeFinder_LightWareSerial::detect(serial_manager, serial_instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LightWareSerial(state[instance], serial_manager);
drivers[instance] = new AP_RangeFinder_LightWareSerial(state[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_LEDDARONE:
if (AP_RangeFinder_LeddarOne::detect(serial_manager)) {
if (AP_RangeFinder_LeddarOne::detect(serial_manager, serial_instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LeddarOne(state[instance], serial_manager);
drivers[instance] = new AP_RangeFinder_LeddarOne(state[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_ULANDING:
if (AP_RangeFinder_uLanding::detect(serial_manager)) {
if (AP_RangeFinder_uLanding::detect(serial_manager, serial_instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_uLanding(state[instance], serial_manager);
drivers[instance] = new AP_RangeFinder_uLanding(state[instance], serial_manager, serial_instance++);
}
break;
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
@ -704,9 +706,9 @@ void RangeFinder::detect_instance(uint8_t instance)
}
break;
case RangeFinder_TYPE_MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_manager)) {
if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_manager, serial_instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(state[instance], serial_manager);
drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(state[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_ANALOG:

2
libraries/AP_RangeFinder/RangeFinder.h
View File

@ -167,7 +167,7 @@ private:
AP_SerialManager &serial_manager;
Vector3f pos_offset_zero; // allows returning position offsets of zero for invalid requests
void detect_instance(uint8_t instance);
void detect_instance(uint8_t instance, uint8_t& serial_instance);
void update_instance(uint8_t instance);
bool _add_backend(AP_RangeFinder_Backend *driver);