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AP_RangeFinder: make LeddarOne backend use new intermediate class

This commit is contained in:
Peter Barker 2019-11-01 17:28:22 +11:00 committed by Peter Barker
parent 15d3a59d67
commit ff7c5af437
2 changed files with 5 additions and 38 deletions
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31
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
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@ -13,40 +13,13 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_RangeFinder_LeddarOne.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/crc.h>
#include "AP_RangeFinder_LeddarOne.h"
#include <AP_SerialManager/AP_SerialManager.h>
extern const AP_HAL::HAL& hal;
/*
The constructor also initialises the rangefinder. Note that this
constructor is not called until detect() returns true, so we
already know that we should setup the rangefinder
*/
AP_RangeFinder_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance) :
AP_RangeFinder_Backend(_state, _params)
{
const AP_SerialManager &serial_manager = AP::serialmanager();
uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
if (uart != nullptr) {
uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
}
}
/*
detect if a LeddarOne rangefinder is connected. We'll detect by
trying to take a reading on Serial. If we get a result the sensor is
there.
*/
bool AP_RangeFinder_LeddarOne::detect(uint8_t serial_instance)
{
return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
}
// read - return last value measured by sensor
bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
{

12
libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
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@ -1,7 +1,7 @@
#pragma once
#include "RangeFinder.h"
#include "RangeFinder_Backend.h"
#include "RangeFinder_Backend_Serial.h"
// defines
#define LEDDARONE_DEFAULT_ADDRESS 0x01
@ -37,17 +37,12 @@ enum LeddarOne_ModbusStatus {
LEDDARONE_MODBUS_STATE_AVAILABLE
};
class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend_Serial
{
public:
// constructor
AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
AP_RangeFinder_Params &_params,
uint8_t serial_instance);
// static detection function
static bool detect(uint8_t serial_instance);
using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
// update state
void update(void) override;
@ -68,7 +63,6 @@ private:
// parse a response message from ModBus
LeddarOne_Status parse_response(uint8_t &number_detections);
AP_HAL::UARTDriver *uart = nullptr;
uint32_t last_sending_request_ms;
uint32_t last_available_ms;