From cc62a52553252efd42b6c2def59074aa474d1630 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 26 Apr 2020 21:59:46 -0400
Subject: [PATCH] PX4Rangerfinder: delete unused CDev

---
 .../distance_sensor/cm8jl65/CM8JL65.cpp       |  2 ++
 .../distance_sensor/leddar_one/LeddarOne.cpp  |  1 +
 src/drivers/distance_sensor/sf0x/SF0X.cpp     |  1 +
 src/drivers/distance_sensor/tfmini/TFMINI.cpp |  2 ++
 .../drivers/rangefinder/PX4Rangefinder.cpp    | 27 ++++---------------
 .../drivers/rangefinder/PX4Rangefinder.hpp    | 10 +++----
 6 files changed, 14 insertions(+), 29 deletions(-)

diff --git a/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp b/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
index 4b591e3f45..5ede856f70 100644
--- a/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
+++ b/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
@@ -33,6 +33,8 @@
 
 #include "CM8JL65.hpp"
 
+#include <fcntl.h>
+
 static constexpr unsigned char crc_msb_vector[] = {
 	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
 	0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
diff --git a/src/drivers/distance_sensor/leddar_one/LeddarOne.cpp b/src/drivers/distance_sensor/leddar_one/LeddarOne.cpp
index 410c04f843..edc447ac3c 100644
--- a/src/drivers/distance_sensor/leddar_one/LeddarOne.cpp
+++ b/src/drivers/distance_sensor/leddar_one/LeddarOne.cpp
@@ -33,6 +33,7 @@
 
 #include "LeddarOne.hpp"
 
+#include <fcntl.h>
 #include <stdlib.h>
 #include <string.h>
 
diff --git a/src/drivers/distance_sensor/sf0x/SF0X.cpp b/src/drivers/distance_sensor/sf0x/SF0X.cpp
index 45800e10f4..eefdb781f8 100644
--- a/src/drivers/distance_sensor/sf0x/SF0X.cpp
+++ b/src/drivers/distance_sensor/sf0x/SF0X.cpp
@@ -33,6 +33,7 @@
 
 #include "SF0X.hpp"
 
+#include <fcntl.h>
 #include <termios.h>
 
 /* Configuration Constants */
diff --git a/src/drivers/distance_sensor/tfmini/TFMINI.cpp b/src/drivers/distance_sensor/tfmini/TFMINI.cpp
index 4e18c849e2..25c5b80d55 100644
--- a/src/drivers/distance_sensor/tfmini/TFMINI.cpp
+++ b/src/drivers/distance_sensor/tfmini/TFMINI.cpp
@@ -33,6 +33,8 @@
 
 #include "TFMINI.hpp"
 
+#include <fcntl.h>
+
 TFMINI::TFMINI(const char *port, uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
 	_px4_rangefinder(0 /* TODO: device id */, ORB_PRIO_DEFAULT, rotation)
diff --git a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp
index 7bcdf36406..bb8a98ed0a 100644
--- a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp
+++ b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp
@@ -36,24 +36,13 @@
 #include <lib/drivers/device/Device.hpp>
 
 PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t priority, const uint8_t device_orientation) :
-	CDev(nullptr),
 	_distance_sensor_pub{ORB_ID(distance_sensor), priority}
 {
-	_class_device_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
-
 	set_device_id(device_id);
 	set_orientation(device_orientation);
 }
 
-PX4Rangefinder::~PX4Rangefinder()
-{
-	if (_class_device_instance != -1) {
-		unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_device_instance);
-	}
-}
-
-void
-PX4Rangefinder::set_device_type(uint8_t device_type)
+void PX4Rangefinder::set_device_type(uint8_t device_type)
 {
 	// TODO: range finders should have device ids
 
@@ -68,18 +57,16 @@ PX4Rangefinder::set_device_type(uint8_t device_type)
 	// _distance_sensor_pub.get().device_id = device_id.devid;
 }
 
-void
-PX4Rangefinder::set_orientation(const uint8_t device_orientation)
+void PX4Rangefinder::set_orientation(const uint8_t device_orientation)
 {
 	_distance_sensor_pub.get().orientation = device_orientation;
 }
 
-void
-PX4Rangefinder::update(const hrt_abstime timestamp, const float distance, const int8_t quality)
+void PX4Rangefinder::update(const hrt_abstime &timestamp_sample, const float distance, const int8_t quality)
 {
 	distance_sensor_s &report = _distance_sensor_pub.get();
 
-	report.timestamp = timestamp;
+	report.timestamp = timestamp_sample;
 	report.current_distance = distance;
 	report.signal_quality = quality;
 
@@ -93,10 +80,6 @@ PX4Rangefinder::update(const hrt_abstime timestamp, const float distance, const
 	_distance_sensor_pub.update();
 }
 
-void
-PX4Rangefinder::print_status()
+void PX4Rangefinder::print_status()
 {
-	PX4_INFO(RANGE_FINDER_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
-
-	print_message(_distance_sensor_pub.get());
 }
diff --git a/src/lib/drivers/rangefinder/PX4Rangefinder.hpp b/src/lib/drivers/rangefinder/PX4Rangefinder.hpp
index bbef352384..a405bc75e3 100644
--- a/src/lib/drivers/rangefinder/PX4Rangefinder.hpp
+++ b/src/lib/drivers/rangefinder/PX4Rangefinder.hpp
@@ -35,20 +35,18 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_range_finder.h>
-#include <lib/cdev/CDev.hpp>
 #include <lib/conversion/rotation.h>
-#include <uORB/uORB.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/distance_sensor.h>
 
-class PX4Rangefinder : public cdev::CDev
+class PX4Rangefinder
 {
 
 public:
 	PX4Rangefinder(const uint32_t device_id,
 		       const uint8_t priority = ORB_PRIO_DEFAULT,
 		       const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
-	~PX4Rangefinder() override;
+	~PX4Rangefinder() = default;
 
 	void print_status();
 
@@ -66,12 +64,10 @@ public:
 
 	void set_orientation(const uint8_t device_orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
 
-	void update(const hrt_abstime timestamp, const float distance, const int8_t quality = -1);
+	void update(const hrt_abstime &timestamp_sample, const float distance, const int8_t quality = -1);
 
 private:
 
 	uORB::PublicationMultiData<distance_sensor_s> _distance_sensor_pub;
 
-	int _class_device_instance{-1};
-
 };