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AP_RangeFinder: remove number_detections member variable and add number_detections reference argument to parse_response

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This commit is contained in:
ShingoMatsuura 2016-10-10 17:14:39 +09:00 committed by Lucas De Marchi
parent 43f2482abd
commit 8432c5fb4a
2 changed files with 6 additions and 6 deletions
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9
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -69,8 +69,9 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
// parse a response message, set number_detections, detections and sum_distance // parse a response message, set number_detections, detections and sum_distance
// must be signed to handle errors // must be signed to handle errors
if (parse_response() != LEDDARONE_OK) { uint8_t number_detections;
// TODO: when (number_detections < 0) handle LEDDARONE_ERR_ if (parse_response(number_detections) != LEDDARONE_OK) {
// TODO: when (not LEDDARONE_OK) handle LEDDARONE_ERR_
return false; return false;
} }
@ -166,7 +167,7 @@ LeddarOne_Status AP_RangeFinder_LeddarOne::send_request(void)
/* /*
parse a response message from Modbus parse a response message from Modbus
*/ */
LeddarOne_Status AP_RangeFinder_LeddarOne::parse_response(void) LeddarOne_Status AP_RangeFinder_LeddarOne::parse_response(uint8_t &number_detections)
{ {
uint8_t data_buffer[25] = {0}; uint8_t data_buffer[25] = {0};
uint32_t start_ms = AP_HAL::millis(); uint32_t start_ms = AP_HAL::millis();
@ -204,7 +205,7 @@ LeddarOne_Status AP_RangeFinder_LeddarOne::parse_response(void)
number_detections = data_buffer[10]; number_detections = data_buffer[10];
// if the number of detection is over or zero , it is false // if the number of detection is over or zero , it is false
if (number_detections > LEDDARONE_DETECTIONS_MAX || number_detections <= 0) { if (number_detections > LEDDARONE_DETECTIONS_MAX || number_detections == 0) {
return LEDDARONE_ERR_NUMBER_DETECTIONS; return LEDDARONE_ERR_NUMBER_DETECTIONS;
} }

3
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
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@ -46,12 +46,11 @@ private:
LeddarOne_Status send_request(void); LeddarOne_Status send_request(void);
// parse a response message from ModBus // parse a response message from ModBus
LeddarOne_Status parse_response(void); LeddarOne_Status parse_response(uint8_t &number_detections);
AP_HAL::UARTDriver *uart = nullptr; AP_HAL::UARTDriver *uart = nullptr;
uint32_t last_reading_ms; uint32_t last_reading_ms;
uint16_t detections[LEDDARONE_DETECTIONS_MAX]; uint16_t detections[LEDDARONE_DETECTIONS_MAX];
uint32_t sum_distance; uint32_t sum_distance;
uint8_t number_detections;
}; };