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AP_Proximity: stop passing serial manager around, use singleton

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This commit is contained in:
Peter Barker 2019-09-27 18:06:44 +10:00 committed by Randy Mackay
parent 368a8028ae
commit 4962b7a98e
10 changed files with 42 additions and 42 deletions
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19
libraries/AP_Proximity/AP_Proximity.cpp
View File

@ -178,8 +178,7 @@ const AP_Param::GroupInfo AP_Proximity::var_info[] = {
AP_GROUPEND
};
AP_Proximity::AP_Proximity(AP_SerialManager &_serial_manager) :
serial_manager(_serial_manager)
AP_Proximity::AP_Proximity()
{
AP_Param::setup_object_defaults(this, var_info);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -284,16 +283,16 @@ void AP_Proximity::detect_instance(uint8_t instance)
{
uint8_t type = _type[instance];
if (type == Proximity_Type_SF40C) {
if (AP_Proximity_LightWareSF40C::detect(serial_manager)) {
if (AP_Proximity_LightWareSF40C::detect()) {
state[instance].instance = instance;
drivers[instance] = new AP_Proximity_LightWareSF40C(*this, state[instance], serial_manager);
drivers[instance] = new AP_Proximity_LightWareSF40C(*this, state[instance]);
return;
}
}
if (type == Proximity_Type_RPLidarA2) {
if (AP_Proximity_RPLidarA2::detect(serial_manager)) {
if (AP_Proximity_RPLidarA2::detect()) {
state[instance].instance = instance;
drivers[instance] = new AP_Proximity_RPLidarA2(*this, state[instance], serial_manager);
drivers[instance] = new AP_Proximity_RPLidarA2(*this, state[instance]);
return;
}
}
@ -303,16 +302,16 @@ void AP_Proximity::detect_instance(uint8_t instance)
return;
}
if (type == Proximity_Type_TRTOWER) {
if (AP_Proximity_TeraRangerTower::detect(serial_manager)) {
if (AP_Proximity_TeraRangerTower::detect()) {
state[instance].instance = instance;
drivers[instance] = new AP_Proximity_TeraRangerTower(*this, state[instance], serial_manager);
drivers[instance] = new AP_Proximity_TeraRangerTower(*this, state[instance]);
return;
}
}
if (type == Proximity_Type_TRTOWEREVO) {
if (AP_Proximity_TeraRangerTowerEvo::detect(serial_manager)) {
if (AP_Proximity_TeraRangerTowerEvo::detect()) {
state[instance].instance = instance;
drivers[instance] = new AP_Proximity_TeraRangerTowerEvo(*this, state[instance], serial_manager);
drivers[instance] = new AP_Proximity_TeraRangerTowerEvo(*this, state[instance]);
return;
}
}

4
libraries/AP_Proximity/AP_Proximity.h
View File

@ -18,7 +18,6 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#define PROXIMITY_MAX_INSTANCES 1 // Maximum number of proximity sensor instances available on this platform
@ -33,7 +32,7 @@ class AP_Proximity
public:
friend class AP_Proximity_Backend;
AP_Proximity(AP_SerialManager &_serial_manager);
AP_Proximity();
AP_Proximity(const AP_Proximity &other) = delete;
AP_Proximity &operator=(const AP_Proximity) = delete;
@ -149,7 +148,6 @@ private:
const RangeFinder *_rangefinder;
uint8_t primary_instance;
uint8_t num_instances;
AP_SerialManager &serial_manager;
// parameters for all instances
AP_Int8 _type[PROXIMITY_MAX_INSTANCES];

8
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
View File

@ -27,10 +27,10 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the proximity sensor
*/
AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_SerialManager &serial_manager) :
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));
@ -38,9 +38,9 @@ AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend
}
// detect if a Lightware proximity sensor is connected by looking for a configured serial port
bool AP_Proximity_LightWareSF40C::detect(AP_SerialManager &serial_manager)
bool AP_Proximity_LightWareSF40C::detect()
{
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
}
// update the state of the sensor

5
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h
View File

@ -10,10 +10,11 @@ class AP_Proximity_LightWareSF40C : public AP_Proximity_Backend
public:
// constructor
AP_Proximity_LightWareSF40C(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
static bool detect();
// update state
void update(void) override;

13
libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
View File

@ -69,11 +69,12 @@ extern const AP_HAL::HAL& hal;
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_SerialManager &serial_manager) :
AP_Proximity_Backend(_frontend, _state)
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));
@ -84,9 +85,9 @@ AP_Proximity_RPLidarA2::AP_Proximity_RPLidarA2(AP_Proximity &_frontend,
}
// detect if a RPLidarA2 proximity sensor is connected by looking for a configured serial port
bool AP_Proximity_RPLidarA2::detect(AP_SerialManager &serial_manager)
bool AP_Proximity_RPLidarA2::detect()
{
return serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
}
// update the _rp_state of the sensor

4
libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
View File

@ -39,10 +39,10 @@ class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend
public:
// constructor
AP_Proximity_RPLidarA2(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
AP_Proximity_RPLidarA2(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
static bool detect();
// update state
void update(void) override;

12
libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp
View File

@ -27,11 +27,13 @@ extern const AP_HAL::HAL& hal;
constructor is not called until detect() returns true, so we
already know that we should setup the proximity sensor
*/
AP_Proximity_TeraRangerTower::AP_Proximity_TeraRangerTower(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_SerialManager &serial_manager) :
AP_Proximity_TeraRangerTower::AP_Proximity_TeraRangerTower(
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));
@ -39,10 +41,10 @@ AP_Proximity_TeraRangerTower::AP_Proximity_TeraRangerTower(AP_Proximity &_fronte
}
// detect if a TeraRanger Tower proximity sensor is connected by looking for a configured serial port
bool AP_Proximity_TeraRangerTower::detect(AP_SerialManager &serial_manager)
bool AP_Proximity_TeraRangerTower::detect()
{
AP_HAL::UARTDriver *uart = nullptr;
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
return uart != nullptr;
}

4
libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h
View File

@ -10,10 +10,10 @@ class AP_Proximity_TeraRangerTower : public AP_Proximity_Backend
public:
// constructor
AP_Proximity_TeraRangerTower(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
AP_Proximity_TeraRangerTower(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
static bool detect();
// update state
void update(void) override;

11
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp
View File

@ -28,10 +28,11 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the proximity sensor
*/
AP_Proximity_TeraRangerTowerEvo::AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state,
AP_SerialManager &serial_manager) :
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));
@ -40,11 +41,9 @@ AP_Proximity_TeraRangerTowerEvo::AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_
}
// detect if a TeraRanger Tower proximity sensor is connected by looking for a configured serial port
bool AP_Proximity_TeraRangerTowerEvo::detect(AP_SerialManager &serial_manager)
bool AP_Proximity_TeraRangerTowerEvo::detect()
{
AP_HAL::UARTDriver *uart = nullptr;
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
return uart != nullptr;
return (AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr);
}
// update the state of the sensor

4
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h
View File

@ -9,10 +9,10 @@ class AP_Proximity_TeraRangerTowerEvo : public AP_Proximity_Backend {
public:
// constructor
AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state, AP_SerialManager &serial_manager);
AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
// static detection function
static bool detect(AP_SerialManager &serial_manager);
static bool detect();
// update state
void update(void) override;