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

4
libraries/AP_Proximity/AP_Proximity.h
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@ -18,7 +18,6 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_RangeFinder/AP_RangeFinder.h> #include <AP_RangeFinder/AP_RangeFinder.h>
#define PROXIMITY_MAX_INSTANCES 1 // Maximum number of proximity sensor instances available on this platform #define PROXIMITY_MAX_INSTANCES 1 // Maximum number of proximity sensor instances available on this platform
@ -33,7 +32,7 @@ class AP_Proximity
public: public:
friend class AP_Proximity_Backend; friend class AP_Proximity_Backend;
AP_Proximity(AP_SerialManager &_serial_manager); AP_Proximity();
AP_Proximity(const AP_Proximity &other) = delete; AP_Proximity(const AP_Proximity &other) = delete;
AP_Proximity &operator=(const AP_Proximity) = delete; AP_Proximity &operator=(const AP_Proximity) = delete;
@ -149,7 +148,6 @@ private:
const RangeFinder *_rangefinder; const RangeFinder *_rangefinder;
uint8_t primary_instance; uint8_t primary_instance;
uint8_t num_instances; uint8_t num_instances;
AP_SerialManager &serial_manager;
// parameters for all instances // parameters for all instances
AP_Int8 _type[PROXIMITY_MAX_INSTANCES]; AP_Int8 _type[PROXIMITY_MAX_INSTANCES];

8
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
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@ -27,10 +27,10 @@ extern const AP_HAL::HAL& hal;
already know that we should setup the proximity sensor already know that we should setup the proximity sensor
*/ */
AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend, AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state, AP_Proximity::Proximity_State &_state) :
AP_SerialManager &serial_manager) :
AP_Proximity_Backend(_frontend, _state) AP_Proximity_Backend(_frontend, _state)
{ {
const AP_SerialManager &serial_manager = AP::serialmanager();
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0); uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
if (uart != nullptr) { if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0)); 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 // 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 // update the state of the sensor

5
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h
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@ -10,10 +10,11 @@ class AP_Proximity_LightWareSF40C : public AP_Proximity_Backend
public: public:
// constructor // 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 detection function
static bool detect(AP_SerialManager &serial_manager); static bool detect();
// update state // update state
void update(void) override; void update(void) override;

11
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 constructor is not called until detect() returns true, so we
already know that we should setup the proximity sensor already know that we should setup the proximity sensor
*/ */
AP_Proximity_RPLidarA2::AP_Proximity_RPLidarA2(AP_Proximity &_frontend, AP_Proximity_RPLidarA2::AP_Proximity_RPLidarA2(
AP_Proximity::Proximity_State &_state, AP_Proximity &_frontend,
AP_SerialManager &serial_manager) : AP_Proximity::Proximity_State &_state) :
AP_Proximity_Backend(_frontend, _state) AP_Proximity_Backend(_frontend, _state)
{ {
const AP_SerialManager &serial_manager = AP::serialmanager();
_uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0); _uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
if (_uart != nullptr) { if (_uart != nullptr) {
_uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0)); _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 // 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 // update the _rp_state of the sensor

4
libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
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@ -39,10 +39,10 @@ class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend
public: public:
// constructor // 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 detection function
static bool detect(AP_SerialManager &serial_manager); static bool detect();
// update state // update state
void update(void) override; 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 constructor is not called until detect() returns true, so we
already know that we should setup the proximity sensor already know that we should setup the proximity sensor
*/ */
AP_Proximity_TeraRangerTower::AP_Proximity_TeraRangerTower(AP_Proximity &_frontend, AP_Proximity_TeraRangerTower::AP_Proximity_TeraRangerTower(
AP_Proximity::Proximity_State &_state, AP_Proximity &_frontend,
AP_SerialManager &serial_manager) : AP_Proximity::Proximity_State &_state) :
AP_Proximity_Backend(_frontend, _state) AP_Proximity_Backend(_frontend, _state)
{ {
const AP_SerialManager &serial_manager = AP::serialmanager();
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0); uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
if (uart != nullptr) { if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0)); 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 // 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; 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; return uart != nullptr;
} }

4
libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h
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@ -10,10 +10,10 @@ class AP_Proximity_TeraRangerTower : public AP_Proximity_Backend
public: public:
// constructor // 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 detection function
static bool detect(AP_SerialManager &serial_manager); static bool detect();
// update state // update state
void update(void) override; 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 already know that we should setup the proximity sensor
*/ */
AP_Proximity_TeraRangerTowerEvo::AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend, AP_Proximity_TeraRangerTowerEvo::AP_Proximity_TeraRangerTowerEvo(AP_Proximity &_frontend,
AP_Proximity::Proximity_State &_state, AP_Proximity::Proximity_State &_state) :
AP_SerialManager &serial_manager) :
AP_Proximity_Backend(_frontend, _state) AP_Proximity_Backend(_frontend, _state)
{ {
const AP_SerialManager &serial_manager = AP::serialmanager();
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0); uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
if (uart != nullptr) { if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0)); 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 // 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; return (AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr);
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
return uart != nullptr;
} }
// update the state of the sensor // update the state of the sensor

4
libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h
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@ -9,10 +9,10 @@ class AP_Proximity_TeraRangerTowerEvo : public AP_Proximity_Backend {
public: public:
// constructor // 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 detection function
static bool detect(AP_SerialManager &serial_manager); static bool detect();
// update state // update state
void update(void) override; void update(void) override;