From 99626b73ff0867d05e5bc246ed52e7ae2df45280 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 22 May 2024 12:41:17 +0900
Subject: [PATCH] AP_Mount: SToRM32_serial inherits from serial backend

---
 .../AP_Mount/AP_Mount_SToRM32_serial.cpp      | 28 +++++--------------
 libraries/AP_Mount/AP_Mount_SToRM32_serial.h  | 13 ++-------
 2 files changed, 10 insertions(+), 31 deletions(-)

diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
index 928a40a297..82387a0e93 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
+++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
@@ -4,20 +4,6 @@
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
-#include <AP_SerialManager/AP_SerialManager.h>
-
-// init - performs any required initialisation for this instance
-void AP_Mount_SToRM32_serial::init()
-{
-    const AP_SerialManager& serial_manager = AP::serialmanager();
-
-    _port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Gimbal, 0);
-    if (_port) {
-        _initialised = true;
-    }
-    AP_Mount_Backend::init();
-
-}
 
 // update mount position - should be called periodically
 void AP_Mount_SToRM32_serial::update()
@@ -142,7 +128,7 @@ bool AP_Mount_SToRM32_serial::can_send(bool with_control) {
     if (with_control) {
         required_tx += sizeof(AP_Mount_SToRM32_serial::cmd_set_angles_struct);
     }
-    return (_reply_type == ReplyType_UNKNOWN) && (_port->txspace() >= required_tx);
+    return (_reply_type == ReplyType_UNKNOWN) && (_uart->txspace() >= required_tx);
 }
 
 
@@ -167,7 +153,7 @@ void AP_Mount_SToRM32_serial::send_target_angles(const MountTarget& angle_target
         return;
     }
 
-    if ((size_t)_port->txspace() < sizeof(cmd_set_angles_data)) {
+    if ((size_t)_uart->txspace() < sizeof(cmd_set_angles_data)) {
         return;
     }
 
@@ -181,7 +167,7 @@ void AP_Mount_SToRM32_serial::send_target_angles(const MountTarget& angle_target
     cmd_set_angles_data.crc = crc_calculate(&buf[1], sizeof(cmd_set_angles_data)-3);
 
     for (uint8_t i = 0;  i != sizeof(cmd_set_angles_data) ; i++) {
-        _port->write(buf[i]);
+        _uart->write(buf[i]);
     }
 
     // store time of send
@@ -194,11 +180,11 @@ void AP_Mount_SToRM32_serial::get_angles() {
         return;
     }
 
-    if (_port->txspace() < 1) {
+    if (_uart->txspace() < 1) {
         return;
     }
 
-    _port->write('d');
+    _uart->write('d');
 };
 
 
@@ -220,14 +206,14 @@ void AP_Mount_SToRM32_serial::read_incoming() {
     uint8_t data;
     int16_t numc;
 
-    numc = _port->available();
+    numc = _uart->available();
 
     if (numc < 0 ) {
         return;
     }
 
     for (int16_t i = 0; i < numc; i++) {        // Process bytes received
-        data = _port->read();
+        data = _uart->read();
         if (_reply_type == ReplyType_UNKNOWN) {
             continue;
         }
diff --git a/libraries/AP_Mount/AP_Mount_SToRM32_serial.h b/libraries/AP_Mount/AP_Mount_SToRM32_serial.h
index e6632ca10e..895143e80b 100644
--- a/libraries/AP_Mount/AP_Mount_SToRM32_serial.h
+++ b/libraries/AP_Mount/AP_Mount_SToRM32_serial.h
@@ -3,7 +3,7 @@
  */
 #pragma once
 
-#include "AP_Mount_Backend.h"
+#include "AP_Mount_Backend_Serial.h"
 
 #if HAL_MOUNT_STORM32SERIAL_ENABLED
 
@@ -13,15 +13,12 @@
 
 #define AP_MOUNT_STORM32_SERIAL_RESEND_MS   1000    // resend angle targets to gimbal once per second
 
-class AP_Mount_SToRM32_serial : public AP_Mount_Backend
+class AP_Mount_SToRM32_serial : public AP_Mount_Backend_Serial
 {
 
 public:
     // Constructor
-    using AP_Mount_Backend::AP_Mount_Backend;
-
-    // init - performs any required initialisation for this instance
-    void init() override;
+    using AP_Mount_Backend_Serial::AP_Mount_Backend_Serial;
 
     // update mount position - should be called periodically
     void update() override;
@@ -127,11 +124,7 @@ private:
 
 
     // internal variables
-    AP_HAL::UARTDriver *_port;
-
-    bool _initialised;              // true once the driver has been initialised
     uint32_t _last_send;            // system time of last do_mount_control sent to gimbal
-
     uint8_t _reply_length;
     uint8_t _reply_counter;
     ReplyType _reply_type = ReplyType_UNKNOWN;