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AP_RangeFinder: serial subclasses rely on base class for update()

This commit is contained in:
Peter Barker 2019-11-01 22:00:04 +11:00 committed by Peter Barker
parent 60cbefc1ae
commit d0e62b0e0b
18 changed files with 13 additions and 129 deletions
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13
libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp
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@ -17,7 +17,6 @@
#include <GCS_MAVLink/GCS.h>
#include "AP_RangeFinder_BLPing.h"
#define BLPING_TIMEOUT_MS 500 // sensor timeout after 0.5 sec
#define BLPING_INIT_RATE_MS 1000 // initialise sensor at no more than 1hz
#define BLPING_FRAME_HEADER1 0x42 // header first byte ('B')
#define BLPING_FRAME_HEADER2 0x52 // header second byte ('R')
@ -53,16 +52,10 @@ void AP_RangeFinder_BLPing::update(void)
if (uart == nullptr) {
return;
}
AP_RangeFinder_Backend_Serial::update();
const uint32_t now = AP_HAL::millis();
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
state.last_reading_ms = now;
update_status();
} else if (now - state.last_reading_ms > BLPING_TIMEOUT_MS) {
set_status(RangeFinder::Status::NoData);
if (status() == RangeFinder::Status::NoData) {
const uint32_t now = AP_HAL::millis();
// initialise sensor if no distances recently
if (now - last_init_ms > BLPING_INIT_RATE_MS) {
last_init_ms = now;

2
libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h
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@ -29,6 +29,8 @@ private:
// read a distance from the sensor
bool get_reading(uint16_t &reading_cm) override;
uint16_t read_timeout_ms() const override { return 500; }
// process one byte received on serial port
// returns true if a distance message has been successfully parsed
// state is stored in msg structure

14
libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
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@ -132,17 +132,3 @@ bool AP_RangeFinder_Benewake::get_reading(uint16_t &reading_cm)
// no readings so return false
return false;
}
/*
update the state of the sensor
*/
void AP_RangeFinder_Benewake::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
state.last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
set_status(RangeFinder::Status::NoData);
}
}

3
libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h
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@ -10,9 +10,6 @@ public:
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
// update state
void update(void) override;
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {

14
libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp
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@ -80,17 +80,3 @@ bool AP_RangeFinder_Lanbao::get_reading(uint16_t &reading_cm)
}
return false;
}
/*
update the state of the sensor
*/
void AP_RangeFinder_Lanbao::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
state.last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
set_status(RangeFinder::Status::NoData);
}
}

3
libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h
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@ -15,9 +15,6 @@ public:
return 115200;
}
// update state
void update(void) override;
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {

14
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -96,20 +96,6 @@ bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
return false;
}
/*
update the state of the sensor
*/
void AP_RangeFinder_LeddarOne::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
state.last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
set_status(RangeFinder::Status::NoData);
}
}
/*
CRC16
CRC-16-IBM(x16+x15+x2+1)

3
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
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@ -44,9 +44,6 @@ public:
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
// update state
void update(void) override;
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {

14
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
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@ -85,17 +85,3 @@ bool AP_RangeFinder_LightWareSerial::get_reading(uint16_t &reading_cm)
// no readings so return false
return false;
}
/*
update the state of the sensor
*/
void AP_RangeFinder_LightWareSerial::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
state.last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
set_status(RangeFinder::Status::NoData);
}
}

3
libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
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@ -10,9 +10,6 @@ public:
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
// update state
void update(void) override;
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {

14
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
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@ -60,17 +60,3 @@ bool AP_RangeFinder_MaxsonarSerialLV::get_reading(uint16_t &reading_cm)
return true;
}
/*
update the state of the sensor
*/
void AP_RangeFinder_MaxsonarSerialLV::update(void)
{
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
state.last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 500) {
set_status(RangeFinder::Status::NoData);
}
}

5
libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
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@ -10,9 +10,6 @@ public:
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
// update state
void update(void) override;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
@ -23,6 +20,8 @@ private:
// get a reading
bool get_reading(uint16_t &reading_cm) override;
uint16_t read_timeout_ms() const override { return 500; }
char linebuf[10];
uint8_t linebuf_len = 0;
};

13
libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp
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@ -20,19 +20,6 @@
extern const AP_HAL::HAL& hal;
// update the state of the sensor
void AP_RangeFinder_NMEA::update(void)
{
uint32_t now = AP_HAL::millis();
if (get_reading(state.distance_cm)) {
// update range_valid state based on distance measured
state.last_reading_ms = now;
update_status();
} else if ((now - state.last_reading_ms) > 3000) {
set_status(RangeFinder::Status::NoData);
}
}
// return last value measured by sensor
bool AP_RangeFinder_NMEA::get_reading(uint16_t &reading_cm)
{

5
libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
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@ -25,9 +25,6 @@ public:
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
// update state
void update(void) override;
protected:
virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
@ -46,6 +43,8 @@ private:
// get a reading
bool get_reading(uint16_t &reading_cm) override;
uint16_t read_timeout_ms() const override { return 3000; }
// add a single character to the buffer and attempt to decode
// returns true if a complete sentence was successfully decoded
// distance should be pulled directly from _distance_m member

14
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.cpp
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@ -173,17 +173,3 @@ bool AP_RangeFinder_uLanding::get_reading(uint16_t &reading_cm)
return true;
}
/*
update the state of the sensor
*/
void AP_RangeFinder_uLanding::update(void)
{
if (get_reading(state.distance_cm)) {
state.last_reading_ms = AP_HAL::millis();
// update range_valid state based on distance measured
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
set_status(RangeFinder::Status::NoData);
}
}

3
libraries/AP_RangeFinder/AP_RangeFinder_uLanding.h
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@ -10,9 +10,6 @@ public:
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
// update state
void update(void) override;
protected:
MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {

2
libraries/AP_RangeFinder/RangeFinder_Backend_Serial.cpp
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@ -62,7 +62,7 @@ void AP_RangeFinder_Backend_Serial::update(void)
// update range_valid state based on distance measured
state.last_reading_ms = AP_HAL::millis();
update_status();
} else if (AP_HAL::millis() - state.last_reading_ms > 200) {
} else if (AP_HAL::millis() - state.last_reading_ms > read_timeout_ms()) {
set_status(RangeFinder::Status::NoData);
}
}

3
libraries/AP_RangeFinder/RangeFinder_Backend_Serial.h
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@ -30,4 +30,7 @@ protected:
// it is essential that anyone relying on the base-class update to
// implement this:
virtual bool get_reading(uint16_t &reading_cm) { return 0; }
// maximum time between readings before we change state to NoData:
virtual uint16_t read_timeout_ms() const { return 200; }
};