AP_RangeFinder: make LightWareSerial backend use new intermediate class

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp

@@ -13,9 +13,9 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_RangeFinder_LightWareSerial.h"
-#include <AP_SerialManager/AP_SerialManager.h>
+
+#include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 
 extern const AP_HAL::HAL& hal;
@@ -23,33 +23,6 @@ extern const AP_HAL::HAL& hal;
 #define LIGHTWARE_DIST_MAX_CM           10000
 #define LIGHTWARE_OUT_OF_RANGE_ADD_CM   100
 
-/* 
-   The constructor also initialises the rangefinder. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the rangefinder
-*/
-AP_RangeFinder_LightWareSerial::AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
-                                                               AP_RangeFinder_Params &_params,
-                                                               uint8_t serial_instance) :
-    AP_RangeFinder_Backend(_state, _params)
-{
-    const AP_SerialManager &serial_manager = AP::serialmanager();
-    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
-    if (uart != nullptr) {
-        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
-    }
-}
-
-/* 
-   detect if a Lightware rangefinder is connected. We'll detect by
-   trying to take a reading on Serial. If we get a result the sensor is
-   there.
-*/
-bool AP_RangeFinder_LightWareSerial::detect(uint8_t serial_instance)
-{
-    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
-}
-
 // read - return last value measured by sensor
 bool AP_RangeFinder_LightWareSerial::get_reading(uint16_t &reading_cm)
 {

libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h

@@ -1,19 +1,14 @@
 #pragma once
 
 #include "RangeFinder.h"
-#include "RangeFinder_Backend.h"
+#include "RangeFinder_Backend_Serial.h"
 
-class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend
+class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend_Serial
 {
 
 public:
-    // constructor
-    AP_RangeFinder_LightWareSerial(RangeFinder::RangeFinder_State &_state,
-                                   AP_RangeFinder_Params &_params,
-                                   uint8_t serial_instance);
 
-    // static detection function
-    static bool detect(uint8_t serial_instance);
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
 
     // update state
     void update(void) override;
@@ -28,7 +23,6 @@ private:
     // get a reading
     bool get_reading(uint16_t &reading_cm);
 
-    AP_HAL::UARTDriver *uart = nullptr;
     char linebuf[10];
     uint8_t linebuf_len = 0;
     uint32_t last_init_ms;