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AP_Rangefinder: fix override in constructor

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This commit is contained in:
Pierre Kancir 2021-06-04 23:36:24 +02:00 committed by Peter Barker
parent 8a6661eeeb
commit bcfb07b39f
7 changed files with 28 additions and 25 deletions
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30
libraries/AP_RangeFinder/AP_RangeFinder.cpp
View File

@ -314,7 +314,7 @@ void RangeFinder::update(void)
#endif #endif
} }
bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend, uint8_t instance) bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend, uint8_t instance, uint8_t serial_instance)
{ {
if (!backend) { if (!backend) {
return false; return false;
@ -326,7 +326,7 @@ bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend, uint8_t instance
// we've allocated the same instance twice // we've allocated the same instance twice
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
} }
backend->init_serial(serial_instance);
drivers[instance] = backend; drivers[instance] = backend;
num_instances = MAX(num_instances, instance+1); num_instances = MAX(num_instances, instance+1);
@ -442,17 +442,17 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break; break;
case Type::LWSER: case Type::LWSER:
if (AP_RangeFinder_LightWareSerial::detect(serial_instance)) { if (AP_RangeFinder_LightWareSerial::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_LightWareSerial(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_LightWareSerial(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::LEDDARONE: case Type::LEDDARONE:
if (AP_RangeFinder_LeddarOne::detect(serial_instance)) { if (AP_RangeFinder_LeddarOne::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_LeddarOne(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_LeddarOne(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::ULANDING: case Type::ULANDING:
if (AP_RangeFinder_uLanding::detect(serial_instance)) { if (AP_RangeFinder_uLanding::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_uLanding(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_uLanding(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::BEBOP: case Type::BEBOP:
@ -472,7 +472,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break; break;
case Type::MBSER: case Type::MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_instance)) { if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_MaxsonarSerialLV(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_MaxsonarSerialLV(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::ANALOG: case Type::ANALOG:
@ -493,27 +493,27 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break; break;
case Type::NMEA: case Type::NMEA:
if (AP_RangeFinder_NMEA::detect(serial_instance)) { if (AP_RangeFinder_NMEA::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_NMEA(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_NMEA(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::WASP: case Type::WASP:
if (AP_RangeFinder_Wasp::detect(serial_instance)) { if (AP_RangeFinder_Wasp::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Wasp(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_Wasp(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::BenewakeTF02: case Type::BenewakeTF02:
if (AP_RangeFinder_Benewake_TF02::detect(serial_instance)) { if (AP_RangeFinder_Benewake_TF02::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Benewake_TF02(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_Benewake_TF02(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::BenewakeTFmini: case Type::BenewakeTFmini:
if (AP_RangeFinder_Benewake_TFMini::detect(serial_instance)) { if (AP_RangeFinder_Benewake_TFMini::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Benewake_TFMini(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_Benewake_TFMini(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::BenewakeTF03: case Type::BenewakeTF03:
if (AP_RangeFinder_Benewake_TF03::detect(serial_instance)) { if (AP_RangeFinder_Benewake_TF03::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Benewake_TF03(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_Benewake_TF03(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::PWM: case Type::PWM:
@ -525,17 +525,17 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
break; break;
case Type::BLPing: case Type::BLPing:
if (AP_RangeFinder_BLPing::detect(serial_instance)) { if (AP_RangeFinder_BLPing::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_BLPing(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_BLPing(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::Lanbao: case Type::Lanbao:
if (AP_RangeFinder_Lanbao::detect(serial_instance)) { if (AP_RangeFinder_Lanbao::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_Lanbao(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_Lanbao(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
case Type::LeddarVu8_Serial: case Type::LeddarVu8_Serial:
if (AP_RangeFinder_LeddarVu8::detect(serial_instance)) { if (AP_RangeFinder_LeddarVu8::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_LeddarVu8(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_LeddarVu8(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;
@ -552,7 +552,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
case Type::GYUS42v2: case Type::GYUS42v2:
if (AP_RangeFinder_GYUS42v2::detect(serial_instance)) { if (AP_RangeFinder_GYUS42v2::detect(serial_instance)) {
_add_backend(new AP_RangeFinder_GYUS42v2(state[instance], params[instance], serial_instance++), instance); _add_backend(new AP_RangeFinder_GYUS42v2(state[instance], params[instance]), instance, serial_instance++);
} }
break; break;

2
libraries/AP_RangeFinder/AP_RangeFinder.h
View File

@ -212,7 +212,7 @@ private:
void detect_instance(uint8_t instance, uint8_t& serial_instance); void detect_instance(uint8_t instance, uint8_t& serial_instance);
bool _add_backend(AP_RangeFinder_Backend *driver, uint8_t instance); bool _add_backend(AP_RangeFinder_Backend *driver, uint8_t instance, uint8_t serial_instance=0);
uint32_t _log_rfnd_bit = -1; uint32_t _log_rfnd_bit = -1;
void Log_RFND() const; void Log_RFND() const;

1
libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
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@ -30,6 +30,7 @@ public:
// update the state structure // update the state structure
virtual void update() = 0; virtual void update() = 0;
virtual void init_serial(uint8_t serial_instance) {};
virtual void handle_msg(const mavlink_message_t &msg) { return; } virtual void handle_msg(const mavlink_message_t &msg) { return; }
#if HAL_MSP_RANGEFINDER_ENABLED #if HAL_MSP_RANGEFINDER_ENABLED

8
libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.cpp
View File

@ -28,9 +28,13 @@ extern const AP_HAL::HAL& hal;
*/ */
AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial( AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial(
RangeFinder::RangeFinder_State &_state, RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params, AP_RangeFinder_Params &_params) :
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state, _params) AP_RangeFinder_Backend(_state, _params)
{
}
void AP_RangeFinder_Backend_Serial::init_serial(uint8_t serial_instance)
{ {
uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance); uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) { if (uart != nullptr) {

4
libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.h
View File

@ -7,9 +7,9 @@ class AP_RangeFinder_Backend_Serial : public AP_RangeFinder_Backend
public: public:
// constructor // constructor
AP_RangeFinder_Backend_Serial(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Backend_Serial(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params, AP_RangeFinder_Params &_params);
uint8_t serial_instance);
void init_serial(uint8_t serial_instance) override;
// static detection function // static detection function
static bool detect(uint8_t serial_instance); static bool detect(uint8_t serial_instance);

5
libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
View File

@ -67,9 +67,8 @@ const AP_Param::GroupInfo AP_RangeFinder_Wasp::var_info[] = {
}; };
AP_RangeFinder_Wasp::AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Wasp::AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params, AP_RangeFinder_Params &_params) :
uint8_t serial_instance) : AP_RangeFinder_Backend_Serial(_state, _params)
AP_RangeFinder_Backend_Serial(_state, _params, serial_instance)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);

3
libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
View File

@ -10,8 +10,7 @@ class AP_RangeFinder_Wasp : public AP_RangeFinder_Backend_Serial {
public: public:
AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params, AP_RangeFinder_Params &_params);
uint8_t serial_instance);
void update(void) override; void update(void) override;