AP_Proximity: add intermediate AP_Proximity_Backend_Serial class

libraries/AP_Proximity/AP_Proximity_Backend_Serial.cpp

@@ -0,0 +1,43 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "AP_Proximity_Backend_Serial.h"
+
+#include <AP_SerialManager/AP_SerialManager.h>
+
+/*
+   The constructor also initialises the proximity sensor. Note that this
+   constructor is not called until detect() returns true, so we
+   already know that we should setup the proximity sensor
+*/
+AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial(AP_Proximity &_frontend,
+                                                         AP_Proximity::Proximity_State &_state) :
+    AP_Proximity_Backend(_frontend, _state)
+{
+    const AP_SerialManager &serial_manager = AP::serialmanager();
+    _uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
+    if (_uart != nullptr) {
+        // start uart with larger receive buffer
+        _uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0), rxspace(), 0);
+    }
+}
+
+// detect if a proximity sensor is connected by looking for a
+// configured serial port
+bool AP_Proximity_Backend_Serial::detect()
+{
+    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
+}
+

libraries/AP_Proximity/AP_Proximity_Backend_Serial.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include "AP_Proximity.h"
+#include "AP_Proximity_Backend.h"
+
+class AP_Proximity_Backend_Serial : public AP_Proximity_Backend
+{
+public:
+    AP_Proximity_Backend_Serial(AP_Proximity &_frontend,
+                                AP_Proximity::Proximity_State &_state);
+    // static detection function
+    static bool detect();
+
+protected:
+    virtual uint16_t rxspace() const { return 0; };
+
+    AP_HAL::UARTDriver *_uart;              // uart for communicating with sensor
+};