AP_Proximity: TeraRangerTower uses intermediate serial class

libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp

@@ -15,43 +15,16 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_TeraRangerTower.h"
-#include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_Math/crc.h>
 #include <ctype.h>
 #include <stdio.h>
 
 extern const AP_HAL::HAL& hal;
 
-/*
-   The constructor also initialises the proximity sensor. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the proximity sensor
-*/
-AP_Proximity_TeraRangerTower::AP_Proximity_TeraRangerTower(
-    AP_Proximity &_frontend,
-    AP_Proximity::Proximity_State &_state) :
-    AP_Proximity_Backend(_frontend, _state)
-{
-    const AP_SerialManager &serial_manager = AP::serialmanager();
-
-    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
-    if (uart != nullptr) {
-        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Lidar360, 0));
-    }
-}
-
-// detect if a TeraRanger Tower proximity sensor is connected by looking for a configured serial port
-bool AP_Proximity_TeraRangerTower::detect()
-{
-    AP_HAL::UARTDriver *uart = nullptr;
-    uart = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0);
-    return uart != nullptr;
-}
-
 // update the state of the sensor
 void AP_Proximity_TeraRangerTower::update(void)
 {
-    if (uart == nullptr) {
+    if (_uart == nullptr) {
         return;
     }
 
@@ -79,15 +52,15 @@ float AP_Proximity_TeraRangerTower::distance_min() const
 // check for replies from sensor, returns true if at least one message was processed
 bool AP_Proximity_TeraRangerTower::read_sensor_data()
 {
-    if (uart == nullptr) {
+    if (_uart == nullptr) {
         return false;
     }
 
     uint16_t message_count = 0;
-    int16_t nbytes = uart->available();
+    int16_t nbytes = _uart->available();
 
     while (nbytes-- > 0) {
-        char c = uart->read();
+        char c = _uart->read();
         if (c == 'T' ) {
             buffer_count = 0;
         }

libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h

@@ -1,19 +1,16 @@
 #pragma once
 
 #include "AP_Proximity.h"
-#include "AP_Proximity_Backend.h"
+#include "AP_Proximity_Backend_Serial.h"
 
 #define PROXIMITY_TRTOWER_TIMEOUT_MS            300                               // requests timeout after 0.3 seconds
 
-class AP_Proximity_TeraRangerTower : public AP_Proximity_Backend
+class AP_Proximity_TeraRangerTower : public AP_Proximity_Backend_Serial
 {
 
 public:
-    // constructor
-    AP_Proximity_TeraRangerTower(AP_Proximity &_frontend, AP_Proximity::Proximity_State &_state);
 
-    // static detection function
+    using AP_Proximity_Backend_Serial::AP_Proximity_Backend_Serial;
-    static bool detect();
 
     // update state
     void update(void) override;
@@ -29,7 +26,6 @@ private:
     void update_sector_data(int16_t angle_deg, uint16_t distance_cm);
 
     // reply related variables
-    AP_HAL::UARTDriver *uart = nullptr;
     uint8_t buffer[20]; // buffer where to store data from serial
     uint8_t buffer_count;