From ef658cf926d5afbbf28231c27b57d473bd059e16 Mon Sep 17 00:00:00 2001
From: Ban Siesta <bansiesta@gmail.com>
Date: Sun, 24 May 2015 12:46:23 +0100
Subject: [PATCH] ll40ls: changed I2C driver to new ringbuffer namespace, and
 various style stuff

---
 src/drivers/ll40ls/LidarLiteI2C.cpp | 15 +++++++--------
 src/drivers/ll40ls/LidarLiteI2C.h   | 18 ++++++++----------
 2 files changed, 15 insertions(+), 18 deletions(-)

diff --git a/src/drivers/ll40ls/LidarLiteI2C.cpp b/src/drivers/ll40ls/LidarLiteI2C.cpp
index 2ed07ae0b2..e2195ae029 100644
--- a/src/drivers/ll40ls/LidarLiteI2C.cpp
+++ b/src/drivers/ll40ls/LidarLiteI2C.cpp
@@ -46,7 +46,6 @@
 #include <poll.h>
 #include <string.h>
 #include <stdio.h>
-#include <drivers/device/ringbuffer.h>
 #include <drivers/drv_hrt.h>
 
 /* oddly, ERROR is not defined for c++ */
@@ -57,17 +56,17 @@ static const int ERROR = -1;
 
 LidarLiteI2C::LidarLiteI2C(int bus, const char *path, int address) :
 	I2C("LL40LS", path, bus, address, 100000),
-	_work(),
+	_work{},
 	_reports(nullptr),
 	_sensor_ok(false),
 	_collect_phase(false),
 	_class_instance(-1),
 	_range_finder_topic(-1),
-	_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_read")),
-	_comms_errors(perf_alloc(PC_COUNT, "ll40ls_comms_errors")),
-	_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_overflows")),
-	_sensor_resets(perf_alloc(PC_COUNT, "ll40ls_resets")),
-	_sensor_zero_resets(perf_alloc(PC_COUNT, "ll40ls_zero_resets")),
+	_sample_perf(perf_alloc(PC_ELAPSED, "ll40ls_i2c_read")),
+	_comms_errors(perf_alloc(PC_COUNT, "ll40ls_i2c_comms_errors")),
+	_buffer_overflows(perf_alloc(PC_COUNT, "ll40ls_buffer_i2c_overflows")),
+	_sensor_resets(perf_alloc(PC_COUNT, "ll40ls_i2c_resets")),
+	_sensor_zero_resets(perf_alloc(PC_COUNT, "ll40ls_i2c_zero_resets")),
 	_last_distance(0),
 	_zero_counter(0),
 	_acquire_time_usec(0),
@@ -116,7 +115,7 @@ int LidarLiteI2C::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new RingBuffer(2, sizeof(range_finder_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(range_finder_report));
 
 	if (_reports == nullptr) {
 		goto out;
diff --git a/src/drivers/ll40ls/LidarLiteI2C.h b/src/drivers/ll40ls/LidarLiteI2C.h
index 0784b1441a..cd80b162cb 100644
--- a/src/drivers/ll40ls/LidarLiteI2C.h
+++ b/src/drivers/ll40ls/LidarLiteI2C.h
@@ -40,9 +40,6 @@
 
 #pragma once
 
-//Forward declaration
-class RingBuffer;
-
 #include "LidarLite.h"
 
 #include <nuttx/wqueue.h>
@@ -50,6 +47,7 @@ class RingBuffer;
 #include <systemlib/perf_counter.h>
 
 #include <drivers/device/i2c.h>
+#include <drivers/device/ringbuffer.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/subsystem_info.h>
@@ -76,10 +74,10 @@ public:
 	LidarLiteI2C(int bus, const char *path, int address = LL40LS_BASEADDR);
 	virtual ~LidarLiteI2C();
 
-	virtual int         init() override;
+	int         init() override;
 
-	virtual ssize_t     read(struct file *filp, char *buffer, size_t buflen);
-	virtual int         ioctl(struct file *filp, int cmd, unsigned long arg) override;
+	ssize_t     read(struct file *filp, char *buffer, size_t buflen);
+	int         ioctl(struct file *filp, int cmd, unsigned long arg) override;
 
 	/**
 	* Diagnostics - print some basic information about the driver.
@@ -92,15 +90,15 @@ public:
 	void print_registers() override;
 
 protected:
-	virtual int         probe();
-	virtual int         read_reg(uint8_t reg, uint8_t &val);
+	int         probe();
+	int         read_reg(uint8_t reg, uint8_t &val);
 
 	int                 measure() override;
-	int                 reset_sensor() override;
+	int                 reset_sensor();
 
 private:
 	work_s              _work;
-	RingBuffer          *_reports;
+	ringbuffer::RingBuffer          *_reports;
 	bool                _sensor_ok;
 	bool                _collect_phase;
 	int                 _class_instance;