From eeb8562c6e5dadc36e23b114dfe032635d258e6c Mon Sep 17 00:00:00 2001
From: Johan Jansen <jnsn.johan@gmail.com>
Date: Tue, 24 Mar 2015 10:10:11 +0100
Subject: [PATCH] LidarLite: Compile with weffc++ and fix all warnings

---
 src/drivers/ll40ls/LidarLiteI2C.cpp |  2 ++
 src/drivers/ll40ls/LidarLiteI2C.h   | 45 +++++++++++++++++++++++++++++
 src/drivers/ll40ls/module.mk        |  4 +--
 3 files changed, 49 insertions(+), 2 deletions(-)

diff --git a/src/drivers/ll40ls/LidarLiteI2C.cpp b/src/drivers/ll40ls/LidarLiteI2C.cpp
index ce674293e8..244135a4a7 100644
--- a/src/drivers/ll40ls/LidarLiteI2C.cpp
+++ b/src/drivers/ll40ls/LidarLiteI2C.cpp
@@ -60,6 +60,7 @@ LidarLiteI2C::LidarLiteI2C(int bus, const char *path, int address) :
     I2C("LL40LS", path, bus, address, 100000),
     _min_distance(LL40LS_MIN_DISTANCE),
     _max_distance(LL40LS_MAX_DISTANCE),
+    _work(),
     _reports(nullptr),
     _sensor_ok(false),
     _measure_ticks(0),
@@ -73,6 +74,7 @@ LidarLiteI2C::LidarLiteI2C(int bus, const char *path, int address) :
     _sensor_zero_resets(perf_alloc(PC_COUNT, "ll40ls_zero_resets")),
     _last_distance(0),
     _zero_counter(0),
+    _acquire_time_usec(0),
     _pause_measurements(false),
     _bus(bus)
 {
diff --git a/src/drivers/ll40ls/LidarLiteI2C.h b/src/drivers/ll40ls/LidarLiteI2C.h
index 6dec1a8825..c0e9d4ce4a 100644
--- a/src/drivers/ll40ls/LidarLiteI2C.h
+++ b/src/drivers/ll40ls/LidarLiteI2C.h
@@ -1,3 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+
+/**
+ * @file LidarLiteI2C.h
+ * @author Allyson Kreft
+ *
+ * Driver for the PulsedLight Lidar-Lite range finders connected via I2C.
+ */
+
 #pragma once
 
 //Forward declaration
@@ -139,4 +180,8 @@ private:
     * @param arg        Instance pointer for the driver that is polling.
     */
     static void     cycle_trampoline(void *arg);
+
+private:
+    LidarLiteI2C(const LidarLiteI2C &copy) = delete;
+    LidarLiteI2C operator=(const LidarLiteI2C &assignment) = delete;
 };
diff --git a/src/drivers/ll40ls/module.mk b/src/drivers/ll40ls/module.mk
index d9a43940c1..a3a0ead55a 100644
--- a/src/drivers/ll40ls/module.mk
+++ b/src/drivers/ll40ls/module.mk
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -40,4 +40,4 @@ MODULE_COMMAND	= ll40ls
 SRCS		= ll40ls.cpp \
               LidarLiteI2C.cpp
 
-MAXOPTIMIZATION	 = -Os
+MAXOPTIMIZATION	 = -Os -Weffc++