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AP_Proximity: Make singleton and add an interface to check what type is loaded

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This commit is contained in:
Michael du Breuil 2018-05-09 00:45:43 -07:00 committed by Francisco Ferreira
parent 7d6c3ec683
commit f8b10aaa53
2 changed files with 24 additions and 0 deletions
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16
libraries/AP_Proximity/AP_Proximity.cpp
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@ -178,6 +178,12 @@ AP_Proximity::AP_Proximity(AP_SerialManager &_serial_manager) :
serial_manager(_serial_manager) serial_manager(_serial_manager)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) {
AP_HAL::panic("AP_Proximity must be singleton");
}
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
_singleton = this;
} }
// initialise the Proximity class. We do detection of attached sensors here // initialise the Proximity class. We do detection of attached sensors here
@ -422,3 +428,13 @@ bool AP_Proximity::get_upward_distance(float &distance) const
{ {
return get_upward_distance(primary_instance, distance); return get_upward_distance(primary_instance, distance);
} }
AP_Proximity::Proximity_Type AP_Proximity::get_type(uint8_t instance) const
{
if (instance < PROXIMITY_MAX_INSTANCES) {
return (Proximity_Type)((uint8_t)_type[instance]);
}
return Proximity_Type_None;
}
AP_Proximity *AP_Proximity::_singleton;

8
libraries/AP_Proximity/AP_Proximity.h
View File

@ -36,6 +36,9 @@ public:
AP_Proximity(AP_SerialManager &_serial_manager); AP_Proximity(AP_SerialManager &_serial_manager);
AP_Proximity(const AP_Proximity &other) = delete;
AP_Proximity &operator=(const AP_Proximity) = delete;
// Proximity driver types // Proximity driver types
enum Proximity_Type { enum Proximity_Type {
Proximity_Type_None = 0, Proximity_Type_None = 0,
@ -124,10 +127,15 @@ public:
bool get_upward_distance(uint8_t instance, float &distance) const; bool get_upward_distance(uint8_t instance, float &distance) const;
bool get_upward_distance(float &distance) const; bool get_upward_distance(float &distance) const;
Proximity_Type get_type(uint8_t instance) const;
// parameter list // parameter list
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
static AP_Proximity *get_singleton(void) { return _singleton; };
private: private:
static AP_Proximity *_singleton;
Proximity_State state[PROXIMITY_MAX_INSTANCES]; Proximity_State state[PROXIMITY_MAX_INSTANCES];
AP_Proximity_Backend *drivers[PROXIMITY_MAX_INSTANCES]; AP_Proximity_Backend *drivers[PROXIMITY_MAX_INSTANCES];
const RangeFinder *_rangefinder; const RangeFinder *_rangefinder;