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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)
{
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]))) {
_add_backend(AP_RangeFinder_PulsedLightLRF::detect(1, *this, instance, state[instance]));
}
}
if (type == RangeFinder_TYPE_MBI2C) {
break;
case RangeFinder_TYPE_MBI2C:
_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(*this, instance, state[instance]));
}
if (type == RangeFinder_TYPE_LWI2C) {
break;
case RangeFinder_TYPE_LWI2C:
if (_address[instance]) {
_add_backend(AP_RangeFinder_LightWareI2C::detect(*this, instance, state[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 (type == RangeFinder_TYPE_PX4) {
case RangeFinder_TYPE_PX4:
if (AP_RangeFinder_PX4::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PX4(*this, instance, state[instance]);
return;
}
}
if (type == RangeFinder_TYPE_PX4_PWM) {
break;
case RangeFinder_TYPE_PX4_PWM:
if (AP_RangeFinder_PX4_PWM::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PX4_PWM(*this, instance, state[instance]);
return;
}
}
break;
#endif
#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)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_BBB_PRU(*this, instance, state[instance]);
return;
}
}
break;
#endif
if (type == RangeFinder_TYPE_LWSER) {
case RangeFinder_TYPE_LWSER:
if (AP_RangeFinder_LightWareSerial::detect(*this, instance, serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LightWareSerial(*this, instance, state[instance], serial_manager);
return;
}
}
if (type == RangeFinder_TYPE_LEDDARONE) {
break;
case RangeFinder_TYPE_LEDDARONE:
if (AP_RangeFinder_LeddarOne::detect(*this, instance, serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LeddarOne(*this, instance, state[instance], serial_manager);
return;
}
}
if (type == RangeFinder_TYPE_ULANDING) {
break;
case RangeFinder_TYPE_ULANDING:
if (AP_RangeFinder_uLanding::detect(*this, instance, serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_uLanding(*this, instance, state[instance], serial_manager);
return;
}
}
break;
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
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)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_Bebop(*this, instance, state[instance]);
return;
}
}
break;
#endif
if (type == RangeFinder_TYPE_MAVLink) {
case RangeFinder_TYPE_MAVLink:
if (AP_RangeFinder_MAVLink::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MAVLink(*this, instance, state[instance]);
return;
}
}
if (type == RangeFinder_TYPE_MBSER) {
break;
case RangeFinder_TYPE_MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(*this, instance, serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(*this, instance, state[instance], serial_manager);
return;
}
}
if (type == RangeFinder_TYPE_ANALOG) {
break;
case RangeFinder_TYPE_ANALOG:
// note that analog must be the last to be checked, as it will
// always come back as present if the pin is valid
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]);
return;
}
break;
default:
break;
}
}