AP_RangeFinder: reduce verbiage when detecting serial rangefinders

libraries/AP_RangeFinder/AP_RangeFinder.cpp

@@ -343,6 +343,8 @@ bool RangeFinder::_add_backend(AP_RangeFinder_Backend *backend, uint8_t instance
 void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
 {
 #if AP_RANGEFINDER_ENABLED
+    AP_RangeFinder_Backend_Serial *(*serial_create_fn)(RangeFinder::RangeFinder_State&, AP_RangeFinder_Params&) = nullptr;
+
     const Type _type = (Type)params[instance].type.get();
     switch (_type) {
     case Type::PLI2C:
@@ -464,23 +466,17 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
     case Type::LWSER:
 #if AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
-        if (AP_RangeFinder_LightWareSerial::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_LightWareSerial::create;
-            _add_backend(new AP_RangeFinder_LightWareSerial(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::LEDDARONE:
 #if AP_RANGEFINDER_LEDDARONE_ENABLED
-        if (AP_RangeFinder_LeddarOne::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_LeddarOne::create;
-            _add_backend(new AP_RangeFinder_LeddarOne(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::USD1_Serial:
 #if AP_RANGEFINDER_USD1_SERIAL_ENABLED
-        if (AP_RangeFinder_USD1_Serial::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_USD1_Serial::create;
-            _add_backend(new AP_RangeFinder_USD1_Serial(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::BEBOP:
@@ -499,9 +495,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
     case Type::MBSER:
 #if AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
-        if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_MaxsonarSerialLV::create;
-            _add_backend(new AP_RangeFinder_MaxsonarSerialLV(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::ANALOG:
@@ -522,37 +516,27 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
     case Type::NMEA:
 #if AP_RANGEFINDER_NMEA_ENABLED
-        if (AP_RangeFinder_NMEA::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_NMEA::create;
-            _add_backend(new AP_RangeFinder_NMEA(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::WASP:
 #if AP_RANGEFINDER_WASP_ENABLED
-        if (AP_RangeFinder_Wasp::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_Wasp::create;
-            _add_backend(new AP_RangeFinder_Wasp(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::BenewakeTF02:
 #if AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
-        if (AP_RangeFinder_Benewake_TF02::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_Benewake_TF02::create;
-            _add_backend(new AP_RangeFinder_Benewake_TF02(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::BenewakeTFmini:
 #if AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED
-        if (AP_RangeFinder_Benewake_TFMini::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_Benewake_TFMini::create;
-            _add_backend(new AP_RangeFinder_Benewake_TFMini(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::BenewakeTF03:
 #if AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
-        if (AP_RangeFinder_Benewake_TF03::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_Benewake_TF03::create;
-            _add_backend(new AP_RangeFinder_Benewake_TF03(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::PWM:
@@ -564,23 +548,17 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
     case Type::BLPing:
 #if AP_RANGEFINDER_BLPING_ENABLED
-        if (AP_RangeFinder_BLPing::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_BLPing::create;
-            _add_backend(new AP_RangeFinder_BLPing(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::Lanbao:
 #if AP_RANGEFINDER_LANBAO_ENABLED
-        if (AP_RangeFinder_Lanbao::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_Lanbao::create;
-            _add_backend(new AP_RangeFinder_Lanbao(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
     case Type::LeddarVu8_Serial:
 #if AP_RANGEFINDER_LEDDARVU8_ENABLED
-        if (AP_RangeFinder_LeddarVu8::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_LeddarVu8::create;
-            _add_backend(new AP_RangeFinder_LeddarVu8(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
 
@@ -597,9 +575,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
 
     case Type::GYUS42v2:
 #if AP_RANGEFINDER_GYUS42V2_ENABLED
-        if (AP_RangeFinder_GYUS42v2::detect(serial_instance)) {
+        serial_create_fn = AP_RangeFinder_GYUS42v2::create;
-            _add_backend(new AP_RangeFinder_GYUS42v2(state[instance], params[instance]), instance, serial_instance++);
-        }
 #endif
         break;
 
@@ -631,6 +607,15 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
     }
 
+    if (serial_create_fn != nullptr) {
+        if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance)) {
+            auto *b = serial_create_fn(state[instance], params[instance]);
+            if (b != nullptr) {
+                _add_backend(b, instance, serial_instance++);
+            }
+        }
+    }
+
     // if the backend has some local parameters then make those available in the tree
     if (drivers[instance] && state[instance].var_info) {
         backend_var_info[instance] = state[instance].var_info;

libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h

@@ -124,7 +124,12 @@ class AP_RangeFinder_BLPing : public AP_RangeFinder_Backend_Serial
     static constexpr uint16_t _sensor_rate_ms = 50; // initialise sensor at no more than 20hz
 
 public:
-    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_BLPing(_state, _params);
+    }
 
     /**
      * @brief Update class state
@@ -149,6 +154,9 @@ protected:
     PingProtocol protocol;
 
 private:
+
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
     /**
      * @brief Do the necessary sensor initiation
      *

libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.cpp

@@ -47,16 +47,6 @@ uint32_t AP_RangeFinder_Backend_Serial::initial_baudrate(const uint8_t serial_in
     return AP::serialmanager().find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
 }
 
-/*
-   detect if a Serial rangefinder is connected. We'll detect by simply
-   checking for SerialManager configuration
-*/
-bool AP_RangeFinder_Backend_Serial::detect(uint8_t serial_instance)
-{
-    return AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
-}
-
-
 /*
    update the state of the sensor
 */

libraries/AP_RangeFinder/AP_RangeFinder_Backend_Serial.h

@@ -10,8 +10,6 @@ public:
                                   AP_RangeFinder_Params &_params);
 
     void init_serial(uint8_t serial_instance) override;
-    // static detection function
-    static bool detect(uint8_t serial_instance);
 
 protected:
 

libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h

@@ -11,11 +11,21 @@
 class AP_RangeFinder_Benewake_TF02 : public AP_RangeFinder_Benewake
 {
 public:
-    using AP_RangeFinder_Benewake::AP_RangeFinder_Benewake;
+
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_Benewake_TF02(_state, _params);
+    }
 
 protected:
     float model_dist_max_cm() const override { return 2200; }
     bool has_signal_byte() const override { return true; }
+
+private:
+
+    using AP_RangeFinder_Benewake::AP_RangeFinder_Benewake;
+
 };
 
 #endif  // AP_RANGEFINDER_BENEWAKE_TF02_ENABLED

libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h

@@ -11,10 +11,18 @@
 class AP_RangeFinder_Benewake_TF03 : public AP_RangeFinder_Benewake
 {
 public:
-    using AP_RangeFinder_Benewake::AP_RangeFinder_Benewake;
+
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_Benewake_TF03(_state, _params);
+    }
 
 protected:
     float model_dist_max_cm() const override { return 18000; }
+
+private:
+    using AP_RangeFinder_Benewake::AP_RangeFinder_Benewake;
 };
 
 #endif  // AP_RANGEFINDER_BENEWAKE_TF03_ENABLED

libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h

@@ -11,10 +11,19 @@
 class AP_RangeFinder_Benewake_TFMini : public AP_RangeFinder_Benewake
 {
 public:
-    using AP_RangeFinder_Benewake::AP_RangeFinder_Benewake;
+
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_Benewake_TFMini(_state, _params);
+    }
 
 protected:
     float model_dist_max_cm() const override { return 1200; }
+
+private:
+
+    using AP_RangeFinder_Benewake::AP_RangeFinder_Benewake;
 };
 
 #endif  // AP_RANGEFINDER_BENEWAKE_TFMINI

libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h

@@ -15,7 +15,11 @@ class AP_RangeFinder_GYUS42v2 : public AP_RangeFinder_Backend_Serial
 
 public:
 
-    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_GYUS42v2(_state, _params);
+    }
 
 protected:
 
@@ -29,6 +33,8 @@ protected:
 
 private:
 
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
     // get a reading
     bool get_reading(float &reading_m) override;
 

libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h

@@ -14,7 +14,11 @@ class AP_RangeFinder_Lanbao : public AP_RangeFinder_Backend_Serial
 
 public:
 
-    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_Lanbao(_state, _params);
+    }
 
     // Lanbao is always 115200:
     uint32_t initial_baudrate(uint8_t serial_instance) const override {
@@ -28,6 +32,9 @@ protected:
     }
 
 private:
+
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
     // get a reading
     bool get_reading(float &reading_m) override;
 

libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h

@@ -48,7 +48,11 @@ class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend_Serial
 
 public:
 
-    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_LeddarOne(_state, _params);
+    }
 
 protected:
 
@@ -57,6 +61,9 @@ protected:
     }
 
 private:
+
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
     // get a reading
     bool get_reading(float &reading_m) override;
 

libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h

@@ -16,7 +16,11 @@ class AP_RangeFinder_LeddarVu8 : public AP_RangeFinder_Backend_Serial
 
 public:
 
-    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_LeddarVu8(_state, _params);
+    }
 
 protected:
 
@@ -38,6 +42,8 @@ protected:
 
 private:
 
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
     // function codes
     enum class FunctionCode : uint8_t {
         READ_HOLDING_REGISTER = 0x03,

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h

@@ -14,10 +14,16 @@ class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend_Serial
 
 public:
 
-    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_LightWareSerial(_state, _params);
+    }
 
 protected:
 
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
         return MAV_DISTANCE_SENSOR_LASER;
     }

libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h

@@ -16,6 +16,7 @@ class AP_RangeFinder_MAVLink : public AP_RangeFinder_Backend
 {
 
 public:
+
     // constructor
     using AP_RangeFinder_Backend::AP_RangeFinder_Backend;
 

libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h

@@ -14,7 +14,11 @@ class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend_Serial
 
 public:
 
-    AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_MaxsonarSerialLV(_state, _params);
+    }
 
 protected:
 
@@ -23,6 +27,9 @@ protected:
     }
 
 private:
+
+    AP_RangeFinder_MaxsonarSerialLV(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+
     // get a reading
     bool get_reading(float &reading_m) override;
 

libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h

@@ -29,7 +29,11 @@ class AP_RangeFinder_NMEA : public AP_RangeFinder_Backend_Serial
 
 public:
 
-    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_NMEA(_state, _params);
+    }
 
 protected:
 
@@ -39,6 +43,8 @@ protected:
 
 private:
 
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
     /// enum for handled messages
     enum sentence_types : uint8_t {
         SONAR_UNKNOWN = 0,

libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h

@@ -14,7 +14,11 @@ class AP_RangeFinder_USD1_Serial : public AP_RangeFinder_Backend_Serial
 
 public:
 
-    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_USD1_Serial(_state, _params);
+    }
 
 protected:
 
@@ -31,6 +35,9 @@ protected:
     uint16_t tx_bufsize() const override { return 128; }
 
 private:
+
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
+
     // detect USD1_Serial Firmware Version
     bool detect_version(void);
 

libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h

@@ -15,8 +15,12 @@
 class AP_RangeFinder_Wasp : public AP_RangeFinder_Backend_Serial {
 
 public:
-    AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
+
-                        AP_RangeFinder_Params &_params);
+    static AP_RangeFinder_Backend_Serial *create(
+        RangeFinder::RangeFinder_State &_state,
+        AP_RangeFinder_Params &_params) {
+        return new AP_RangeFinder_Wasp(_state, _params);
+    }
 
     void update(void) override;
 
@@ -35,6 +39,9 @@ protected:
 
 private:
 
+    AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
+                        AP_RangeFinder_Params &_params);
+
     enum wasp_configuration_stage {
         WASP_CFG_RATE,     // set the baudrate
         WASP_CFG_ENCODING, // set the encoding to LBE