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sf0x cleanup unnecessary Device CDev usage

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This commit is contained in:
Daniel Agar
2018-08-18 15:07:52 -04:00
parent 9a2def25f3
commit 8cb222494a
1 changed files with 11 additions and 17 deletions
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src/drivers/distance_sensor/sf0x/sf0x.cpp
+11 -17
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@@ -81,7 +81,7 @@
// designated SERIAL4/5 on Pixhawk
#define SF0X_DEFAULT_PORT "/dev/ttyS6"
class SF0X : public device::CDev
class SF0X : public cdev::CDev
{
public:
SF0X(const char *port = SF0X_DEFAULT_PORT, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
@@ -106,7 +106,7 @@ private:
float _min_distance;
float _max_distance;
int _conversion_interval;
work_s _work;
work_s _work{};
ringbuffer::RingBuffer *_reports;
int _measure_ticks;
bool _collect_phase;
@@ -173,7 +173,7 @@ private:
extern "C" __EXPORT int sf0x_main(int argc, char *argv[]);
SF0X::SF0X(const char *port, uint8_t rotation) :
CDev("SF0X", RANGE_FINDER0_DEVICE_PATH),
CDev(RANGE_FINDER0_DEVICE_PATH),
_rotation(rotation),
_min_distance(0.30f),
_max_distance(40.0f),
@@ -231,12 +231,6 @@ SF0X::SF0X(const char *port, uint8_t rotation) :
if ((termios_state = tcsetattr(_fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR baud %d ATTR", termios_state);
}
// disable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
SF0X::~SF0X()
@@ -265,7 +259,7 @@ SF0X::init()
switch (hw_model) {
case 0:
DEVICE_LOG("disabled.");
PX4_WARN("disabled.");
return 0;
case 1: /* SF02 (40m, 12 Hz)*/
@@ -300,7 +294,7 @@ SF0X::init()
break;
default:
DEVICE_LOG("invalid HW model %d.", hw_model);
PX4_ERR("invalid HW model %d.", hw_model);
return -1;
}
@@ -332,7 +326,7 @@ SF0X::init()
&_orb_class_instance, ORB_PRIO_HIGH);
if (_distance_sensor_topic == nullptr) {
DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
PX4_ERR("failed to create distance_sensor object");
}
} while (0);
@@ -547,7 +541,7 @@ SF0X::measure()
if (ret != sizeof(cmd)) {
perf_count(_comms_errors);
DEVICE_LOG("write fail %d", ret);
PX4_DEBUG("write fail %d", ret);
return ret;
}
@@ -574,7 +568,7 @@ SF0X::collect()
ret = ::read(_fd, &readbuf[0], readlen);
if (ret < 0) {
DEVICE_DEBUG("read err: %d", ret);
PX4_DEBUG("read err: %d", ret);
perf_count(_comms_errors);
perf_end(_sample_perf);
@@ -605,7 +599,7 @@ SF0X::collect()
return -EAGAIN;
}
DEVICE_DEBUG("val (float): %8.4f, raw: %s, valid: %s", (double)distance_m, _linebuf, ((valid) ? "OK" : "NO"));
PX4_DEBUG("val (float): %8.4f, raw: %s, valid: %s", (double)distance_m, _linebuf, ((valid) ? "OK" : "NO"));
struct distance_sensor_s report;
@@ -689,7 +683,7 @@ SF0X::cycle()
/* we know the sensor needs about four seconds to initialize */
if (hrt_absolute_time() > 5 * 1000 * 1000LL && _consecutive_fail_count < 5) {
DEVICE_LOG("collection error #%u", _consecutive_fail_count);
PX4_ERR("collection error #%u", _consecutive_fail_count);
}
_consecutive_fail_count++;
@@ -724,7 +718,7 @@ SF0X::cycle()
/* measurement phase */
if (OK != measure()) {
DEVICE_LOG("measure error");
PX4_DEBUG("measure error");
}
/* next phase is collection */