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RangeFinder: Change type determination from if state to switch state.

This commit is contained in:
murata 2016-12-03 20:02:03 +09:00 committed by Francisco Ferreira
parent 7e33ba04a9
commit a99bde9dad
1 changed files with 29 additions and 25 deletions
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54
libraries/AP_RangeFinder/RangeFinder.cpp
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@ -586,91 +586,92 @@ bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend)
void RangeFinder::detect_instance(uint8_t instance) void RangeFinder::detect_instance(uint8_t instance)
{ {
uint8_t type = _type[instance]; uint8_t type = _type[instance];
if (type == RangeFinder_TYPE_PLI2C) { switch (type) {
case RangeFinder_TYPE_PLI2C:
if (!_add_backend(AP_RangeFinder_PulsedLightLRF::detect(0, *this, instance, state[instance]))) { if (!_add_backend(AP_RangeFinder_PulsedLightLRF::detect(0, *this, instance, state[instance]))) {
_add_backend(AP_RangeFinder_PulsedLightLRF::detect(1, *this, instance, state[instance])); _add_backend(AP_RangeFinder_PulsedLightLRF::detect(1, *this, instance, state[instance]));
} }
} break;
if (type == RangeFinder_TYPE_MBI2C) { case RangeFinder_TYPE_MBI2C:
_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(*this, instance, state[instance])); _add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(*this, instance, state[instance]));
} break;
if (type == RangeFinder_TYPE_LWI2C) { case RangeFinder_TYPE_LWI2C:
if (_address[instance]) { if (_address[instance]) {
_add_backend(AP_RangeFinder_LightWareI2C::detect(*this, instance, state[instance], _add_backend(AP_RangeFinder_LightWareI2C::detect(*this, instance, state[instance],
hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, _address[instance]))); hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, _address[instance])));
} }
} break;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
if (type == RangeFinder_TYPE_PX4) { case RangeFinder_TYPE_PX4:
if (AP_RangeFinder_PX4::detect(*this, instance)) { if (AP_RangeFinder_PX4::detect(*this, instance)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PX4(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_PX4(*this, instance, state[instance]);
return; return;
} }
} break;
if (type == RangeFinder_TYPE_PX4_PWM) { case RangeFinder_TYPE_PX4_PWM:
if (AP_RangeFinder_PX4_PWM::detect(*this, instance)) { if (AP_RangeFinder_PX4_PWM::detect(*this, instance)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PX4_PWM(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_PX4_PWM(*this, instance, state[instance]);
return; return;
} }
} break;
#endif #endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
if (type == RangeFinder_TYPE_BBB_PRU) { case RangeFinder_TYPE_BBB_PRU:
if (AP_RangeFinder_BBB_PRU::detect(*this, instance)) { if (AP_RangeFinder_BBB_PRU::detect(*this, instance)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_BBB_PRU(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_BBB_PRU(*this, instance, state[instance]);
return; return;
} }
} break;
#endif #endif
if (type == RangeFinder_TYPE_LWSER) { case RangeFinder_TYPE_LWSER:
if (AP_RangeFinder_LightWareSerial::detect(*this, instance, serial_manager)) { if (AP_RangeFinder_LightWareSerial::detect(*this, instance, serial_manager)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LightWareSerial(*this, instance, state[instance], serial_manager); drivers[instance] = new AP_RangeFinder_LightWareSerial(*this, instance, state[instance], serial_manager);
return; return;
} }
} break;
if (type == RangeFinder_TYPE_LEDDARONE) { case RangeFinder_TYPE_LEDDARONE:
if (AP_RangeFinder_LeddarOne::detect(*this, instance, serial_manager)) { if (AP_RangeFinder_LeddarOne::detect(*this, instance, serial_manager)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LeddarOne(*this, instance, state[instance], serial_manager); drivers[instance] = new AP_RangeFinder_LeddarOne(*this, instance, state[instance], serial_manager);
return; return;
} }
} break;
if (type == RangeFinder_TYPE_ULANDING) { case RangeFinder_TYPE_ULANDING:
if (AP_RangeFinder_uLanding::detect(*this, instance, serial_manager)) { if (AP_RangeFinder_uLanding::detect(*this, instance, serial_manager)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_uLanding(*this, instance, state[instance], serial_manager); drivers[instance] = new AP_RangeFinder_uLanding(*this, instance, state[instance], serial_manager);
return; return;
} }
} break;
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \ #if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO) CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO)
if (type == RangeFinder_TYPE_BEBOP) { case RangeFinder_TYPE_BEBOP:
if (AP_RangeFinder_Bebop::detect(*this, instance)) { if (AP_RangeFinder_Bebop::detect(*this, instance)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_Bebop(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_Bebop(*this, instance, state[instance]);
return; return;
} }
} break;
#endif #endif
if (type == RangeFinder_TYPE_MAVLink) { case RangeFinder_TYPE_MAVLink:
if (AP_RangeFinder_MAVLink::detect(*this, instance)) { if (AP_RangeFinder_MAVLink::detect(*this, instance)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MAVLink(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_MAVLink(*this, instance, state[instance]);
return; return;
} }
} break;
if (type == RangeFinder_TYPE_MBSER) { case RangeFinder_TYPE_MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(*this, instance, serial_manager)) { if (AP_RangeFinder_MaxsonarSerialLV::detect(*this, instance, serial_manager)) {
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(*this, instance, state[instance], serial_manager); drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(*this, instance, state[instance], serial_manager);
return; return;
} }
} break;
if (type == RangeFinder_TYPE_ANALOG) { case RangeFinder_TYPE_ANALOG:
// note that analog must be the last to be checked, as it will // note that analog must be the last to be checked, as it will
// always come back as present if the pin is valid // always come back as present if the pin is valid
if (AP_RangeFinder_analog::detect(*this, instance)) { if (AP_RangeFinder_analog::detect(*this, instance)) {
@ -678,6 +679,9 @@ void RangeFinder::detect_instance(uint8_t instance)
drivers[instance] = new AP_RangeFinder_analog(*this, instance, state[instance]); drivers[instance] = new AP_RangeFinder_analog(*this, instance, state[instance]);
return; return;
} }
break;
default:
break;
} }
} }