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tfmini cleanup unnecessary Device CDev usage

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This commit is contained in:
Daniel Agar 2018-08-18 15:08:41 -04:00
parent 483bacad87
commit f2ef8708b2
1 changed files with 7 additions and 13 deletions
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20
src/drivers/distance_sensor/tfmini/tfmini.cpp
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@ -85,7 +85,7 @@
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
class TFMINI : public device::CDev
class TFMINI : public cdev::CDev
{
public:
TFMINI(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
@ -107,7 +107,7 @@ 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;
@ -170,7 +170,7 @@ private:
extern "C" __EXPORT int tfmini_main(int argc, char *argv[]);
TFMINI::TFMINI(const char *port, uint8_t rotation) :
CDev("tfmini", RANGE_FINDER0_DEVICE_PATH),
CDev(RANGE_FINDER0_DEVICE_PATH),
_rotation(rotation),
_min_distance(0.30f),
_max_distance(12.0f),
@ -192,12 +192,6 @@ TFMINI::TFMINI(const char *port, uint8_t rotation) :
strncpy(_port, port, sizeof(_port));
/* enforce null termination */
_port[sizeof(_port) - 1] = '\0';
// disable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
TFMINI::~TFMINI()
@ -226,7 +220,7 @@ TFMINI::init()
switch (hw_model) {
case 0:
DEVICE_LOG("disabled.");
PX4_WARN("disabled.");
return 0;
case 1: /* TFMINI (12m, 100 Hz)*/
@ -236,7 +230,7 @@ TFMINI::init()
break;
default:
DEVICE_LOG("invalid HW model %d.", hw_model);
PX4_ERR("invalid HW model %d.", hw_model);
return -1;
}
@ -329,7 +323,7 @@ TFMINI::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. Did you start uOrb?");
}
} while (0);
@ -581,7 +575,7 @@ TFMINI::collect()
}
/* publish most recent valid measurement from buffer */
struct distance_sensor_s report;
distance_sensor_s report{};
report.timestamp = hrt_absolute_time();
report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;