From 9a2def25f337e21f8dd5f8bb14a4569be65d4a1a Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 18 Aug 2018 15:07:39 -0400
Subject: [PATCH] mb12xx cleanup unnecessary Device CDev usage

---
 src/drivers/distance_sensor/mb12xx/mb12xx.cpp | 23 ++++++++-----------
 1 file changed, 9 insertions(+), 14 deletions(-)

diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index 4c2872416a..dd81315480 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -115,7 +115,7 @@ private:
 	uint8_t _rotation;
 	float				_min_distance;
 	float				_max_distance;
-	work_s				_work;
+	work_s				_work{};
 	ringbuffer::RingBuffer		*_reports;
 	bool				_sensor_ok;
 	int				_measure_ticks;
@@ -210,11 +210,6 @@ MB12XX::MB12XX(uint8_t rotation, int bus, int address) :
 	_index_counter(0) 	/* initialising temp sonar i2c address to zero */
 
 {
-	/* enable debug() calls */
-	_debug_enabled = false;
-
-	/* work_cancel in the dtor will explode if we don't do this... */
-	memset(&_work, 0, sizeof(_work));
 }
 
 MB12XX::~MB12XX()
@@ -265,7 +260,7 @@ MB12XX::init()
 				 &_orb_class_instance, ORB_PRIO_LOW);
 
 	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");
 	}
 
 	// XXX we should find out why we need to wait 200 ms here
@@ -281,7 +276,7 @@ MB12XX::init()
 
 		if (ret2 == 0) { /* sonar is present -> store address_index in array */
 			addr_ind.push_back(_index_counter);
-			DEVICE_DEBUG("sonar added");
+			PX4_DEBUG("sonar added");
 			_latest_sonar_measurements.push_back(200);
 		}
 	}
@@ -299,10 +294,10 @@ MB12XX::init()
 
 	/* show the connected sonars in terminal */
 	for (unsigned i = 0; i < addr_ind.size(); i++) {
-		DEVICE_LOG("sonar %d with address %d added", (i + 1), addr_ind[i]);
+		PX4_DEBUG("sonar %d with address %d added", (i + 1), addr_ind[i]);
 	}
 
-	DEVICE_DEBUG("Number of sonars connected: %lu", addr_ind.size());
+	PX4_DEBUG("Number of sonars connected: %lu", addr_ind.size());
 
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
@@ -517,7 +512,7 @@ MB12XX::measure()
 
 	if (OK != ret) {
 		perf_count(_comms_errors);
-		DEVICE_DEBUG("i2c::transfer returned %d", ret);
+		PX4_DEBUG("i2c::transfer returned %d", ret);
 		return ret;
 	}
 
@@ -539,7 +534,7 @@ MB12XX::collect()
 	ret = transfer(nullptr, 0, &val[0], 2);
 
 	if (ret < 0) {
-		DEVICE_DEBUG("error reading from sensor: %d", ret);
+		PX4_DEBUG("error reading from sensor: %d", ret);
 		perf_count(_comms_errors);
 		perf_end(_sample_perf);
 		return ret;
@@ -613,7 +608,7 @@ MB12XX::cycle()
 
 		/* perform collection */
 		if (OK != collect()) {
-			DEVICE_DEBUG("collection error");
+			PX4_DEBUG("collection error");
 			/* if error restart the measurement state machine */
 			start();
 			return;
@@ -652,7 +647,7 @@ MB12XX::cycle()
 
 	/* Perform measurement */
 	if (OK != measure()) {
-		DEVICE_DEBUG("measure error sonar adress %d", _index_counter);
+		PX4_DEBUG("measure error sonar adress %d", _index_counter);
 	}
 
 	/* next phase is collection */