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AP_Compass: pass backend instead of pointer to function 

Just like was done for inertial sensor, different detect() functions
might need different arguments and passing a pointer to function here is
cumbersome. For example, it forces to have a method like "detect_i2c2"
rather than allowing hal.i2c2 to be passed as parameter.
This commit is contained in:
Lucas De Marchi 2015-08-05 17:02:32 -03:00 committed by Andrew Tridgell
parent c66800dfec
commit d92c2ac9f5
2 changed files with 14 additions and 21 deletions
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33
libraries/AP_Compass/Compass.cpp
View File

@ -321,43 +321,36 @@ uint8_t Compass::register_compass(void)
return _compass_count++;
}
/*
try to load a backend
*/
void
Compass::_add_backend(AP_Compass_Backend *(detect)(Compass &))
void Compass::_add_backend(AP_Compass_Backend *backend)
{
if (_backend_count == COMPASS_MAX_BACKEND) {
if (!backend)
return;
if (_backend_count == COMPASS_MAX_BACKEND)
hal.scheduler->panic(PSTR("Too many compass backends"));
}
_backends[_backend_count] = detect(*this);
if (_backends[_backend_count] != NULL) {
_backend_count++;
}
_backends[_backend_count++] = backend;
}
/*
detect available backends for this board
*/
void
Compass::_detect_backends(void)
void Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect);
_add_backend(AP_Compass_HIL::detect(*this));
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_BEBOP
_add_backend(AP_Compass_HMC5843::detect);
_add_backend(AP_Compass_AK8963::detect_mpu9250);
_add_backend(AP_Compass_HMC5843::detect(*this));
_add_backend(AP_Compass_AK8963::detect_mpu9250(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
_add_backend(AP_Compass_HIL::detect);
_add_backend(AP_Compass_HIL::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
_add_backend(AP_Compass_HMC5843::detect);
_add_backend(AP_Compass_HMC5843::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C && HAL_INS_AK8963_I2C_BUS == 1
_add_backend(AP_Compass_AK8963::detect_i2c1);
_add_backend(AP_Compass_AK8963::detect_i2c1(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
_add_backend(AP_Compass_PX4::detect);
_add_backend(AP_Compass_PX4::detect(*this));
#else
#error Unrecognised HAL_COMPASS_TYPE setting
#endif

2
libraries/AP_Compass/Compass.h
View File

@ -252,7 +252,7 @@ private:
uint8_t register_compass(void);
// load backend drivers
void _add_backend(AP_Compass_Backend *(detect)(Compass &));
void _add_backend(AP_Compass_Backend *backend);
void _detect_backends(void);
// backend objects