From ccc9231c6705093a22e17eda1d35598d18916c2e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 21 Feb 2024 17:40:36 +1100
Subject: [PATCH] ArduSub: move gripper up to AP_Vehicle

also make the singleton return a reference rather than a pointer
---
 ArduSub/ArduSub.cpp    |  3 ---
 ArduSub/Parameters.cpp | 23 ++++++++++++++++++-----
 ArduSub/Parameters.h   |  5 -----
 ArduSub/Sub.h          |  5 -----
 ArduSub/system.cpp     |  5 -----
 5 files changed, 18 insertions(+), 23 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index f75ff5f9dc..2306c31b8d 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -102,9 +102,6 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_RPM,              &sub.rpm_sensor,   update,              10, 200,  66),
 #endif
     SCHED_TASK(terrain_update,        10,    100,  72),
-#if AP_GRIPPER_ENABLED
-    SCHED_TASK_CLASS(AP_Gripper,          &sub.g2.gripper,   update,              10,  75,  75),
-#endif
 #if AP_STATS_ENABLED
     SCHED_TASK(stats_update,           1,    200,  76),
 #endif
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 58e554f348..8d0fd2ef97 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -1,5 +1,7 @@
 #include "Sub.h"
 
+#include <AP_Gripper/AP_Gripper.h>
+
 /*
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -693,11 +695,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity),
 #endif
 
-#if AP_GRIPPER_ENABLED
-    // @Group: GRIP_
-    // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
-    AP_SUBGROUPINFO(gripper, "GRIP_", 3, ParametersG2, AP_Gripper),
-#endif
+    // 3 was AP_Gripper
 
     // @Group: SERVO
     // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
@@ -791,6 +789,21 @@ void Sub::load_parameters()
     }
 #endif
 
+    // PARAMETER_CONVERSION - Added: Feb-2024
+#if AP_GRIPPER_ENABLED
+    {
+        // Find G2's Top Level Key
+        AP_Param::ConversionInfo gripper_info;
+        if (!AP_Param::find_top_level_key_by_pointer(&g2, gripper_info.old_key)) {
+            return;
+        }
+
+        const uint16_t old_gripper_index = 3;       // Old parameter index in g2
+        const uint16_t old_gripper_top_element = 4035; // Old group element in the tree for the first subgroup element (see AP_PARAM_KEY_DUMP)
+        AP_Param::convert_class(gripper_info.old_key, &gripper, gripper.var_info, old_gripper_index, old_gripper_top_element, false);
+    }
+#endif
+
     // PARAMETER_CONVERSION - Added: Feb-2024
 #if HAL_LOGGING_ENABLED
     AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, 0, true);
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index f8fd851fbf..6ea9608f8c 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -4,7 +4,6 @@
 
 #include <AP_Common/AP_Common.h>
 
-#include <AP_Gripper/AP_Gripper.h>
 #include <AP_Arming/AP_Arming.h>
 
 // Global parameter class.
@@ -353,10 +352,6 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-#if AP_GRIPPER_ENABLED
-    AP_Gripper gripper;
-#endif
-
 #if HAL_PROXIMITY_ENABLED
     // proximity (aka object avoidance) library
     AP_Proximity proximity;
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 2419e0fc79..69b43eb8a5 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -88,11 +88,6 @@
 #include <AP_RPM/AP_RPM.h>
 #endif
 
-#include <AP_Gripper/AP_Gripper_config.h>
-#if AP_GRIPPER_ENABLED
-#include <AP_Gripper/AP_Gripper.h>             // gripper stuff
-#endif
-
 #if AVOIDANCE_ENABLED == ENABLED
 #include <AC_Avoidance/AC_Avoid.h>           // Stop at fence library
 #endif
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index b72b9889c1..54eb0676b2 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -14,11 +14,6 @@ static void failsafe_check_static()
 
 void Sub::init_ardupilot()
 {
-    // init cargo gripper
-#if AP_GRIPPER_ENABLED
-    g2.gripper.init();
-#endif
-
     // initialise notify system
     notify.init();