mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 23:18:28 -04:00
2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
72 lines
2.4 KiB
C++
72 lines
2.4 KiB
C++
/*
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* RangeFinder test code
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*/
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#include <AP_RangeFinder/AP_RangeFinder.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <Filter/Filter.h>
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#include <AP_Progmem/AP_Progmem.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_HAL_Empty/AP_HAL_Empty.h>
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#include <AP_HAL_AVR/AP_HAL_AVR.h>
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#include <AP_HAL_SITL/AP_HAL_SITL.h>
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#include <AP_HAL_PX4/AP_HAL_PX4.h>
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#include <AP_HAL_Linux/AP_HAL_Linux.h>
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#include <DataFlash/DataFlash.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_ADC/AP_ADC.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Declination/AP_Declination.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Vehicle/AP_Vehicle.h>
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#include <AP_NavEKF/AP_NavEKF.h>
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#include <AP_ADC_AnalogSource/AP_ADC_AnalogSource.h>
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#include <AP_Notify/AP_Notify.h>
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#include <AP_Mission/AP_Mission.h>
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#include <StorageManager/StorageManager.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_Rally/AP_Rally.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static AP_SerialManager serial_manager;
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static RangeFinder sonar {serial_manager};
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void setup()
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{
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// print welcome message
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hal.console->println("Range Finder library test");
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// setup for analog pin 13
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AP_Param::set_object_value(&sonar, sonar.var_info, "_TYPE", RangeFinder::RangeFinder_TYPE_PLI2C);
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AP_Param::set_object_value(&sonar, sonar.var_info, "_PIN", -1);
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AP_Param::set_object_value(&sonar, sonar.var_info, "_SCALING", 1.0);
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// initialise sensor, delaying to make debug easier
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hal.scheduler->delay(2000);
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sonar.init();
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hal.console->printf_P(PSTR("RangeFinder: %d devices detected\n"), sonar.num_sensors());
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}
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void loop()
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{
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// Delay between reads
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hal.scheduler->delay(100);
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sonar.update();
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hal.console->printf_P(PSTR("Primary: status %d distance_cm %d \n"), (int)sonar.status(), sonar.distance_cm());
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hal.console->printf_P(PSTR("All: device_0 type %d status %d distance_cm %d, device_1 type %d status %d distance_cm %d\n"),
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(int)sonar._type[0], (int)sonar.status(0), sonar.distance_cm(0), (int)sonar._type[1], (int)sonar.status(1), sonar.distance_cm(1));
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}
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AP_HAL_MAIN();
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