AP_Proximity: backup lightware SF40C driver to v09

libraries/AP_Proximity/AP_Proximity.cpp

@@ -14,7 +14,7 @@
  */
 
 #include "AP_Proximity.h"
-#include "AP_Proximity_LightWareSF40C.h"
+#include "AP_Proximity_LightWareSF40C_v09.h"
 #include "AP_Proximity_RPLidarA2.h"
 #include "AP_Proximity_TeraRangerTower.h"
 #include "AP_Proximity_TeraRangerTowerEvo.h"
@@ -280,10 +280,10 @@ void AP_Proximity::detect_instance(uint8_t instance)
     switch (get_type(instance)) {
     case Type::None:
         return;
-    case Type::SF40C:
-        if (AP_Proximity_LightWareSF40C::detect()) {
+    case Type::SF40C_v09:
+        if (AP_Proximity_LightWareSF40C_v09::detect()) {
             state[instance].instance = instance;
-            drivers[instance] = new AP_Proximity_LightWareSF40C(*this, state[instance]);
+            drivers[instance] = new AP_Proximity_LightWareSF40C_v09(*this, state[instance]);
             return;
         }
         break;

libraries/AP_Proximity/AP_Proximity.h

@@ -40,7 +40,7 @@ public:
     // Proximity driver types
     enum class Type {
         None    = 0,
-        SF40C   = 1,
+        SF40C_v09 = 1,
         MAV     = 2,
         TRTOWER = 3,
         RangeFinder = 4,

libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.cpp

@@ -14,7 +14,7 @@
  */
 
 #include <AP_HAL/AP_HAL.h>
-#include "AP_Proximity_LightWareSF40C.h"
+#include "AP_Proximity_LightWareSF40C_v09.h"
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <ctype.h>
 #include <stdio.h>
@@ -26,7 +26,7 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the proximity sensor
 */
-AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,
+AP_Proximity_LightWareSF40C_v09::AP_Proximity_LightWareSF40C_v09(AP_Proximity &_frontend,
                                                          AP_Proximity::Proximity_State &_state) :
     AP_Proximity_Backend(_frontend, _state)
 {
@@ -38,13 +38,13 @@ AP_Proximity_LightWareSF40C::AP_Proximity_LightWareSF40C(AP_Proximity &_frontend
 }
 
 // detect if a Lightware proximity sensor is connected by looking for a configured serial port
-bool AP_Proximity_LightWareSF40C::detect()
+bool AP_Proximity_LightWareSF40C_v09::detect()
 {
     return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Lidar360, 0) != nullptr;
 }
 
 // update the state of the sensor
-void AP_Proximity_LightWareSF40C::update(void)
+void AP_Proximity_LightWareSF40C_v09::update(void)
 {
     if (uart == nullptr) {
         return;
@@ -70,17 +70,17 @@ void AP_Proximity_LightWareSF40C::update(void)
 }
 
 // get maximum and minimum distances (in meters) of primary sensor
-float AP_Proximity_LightWareSF40C::distance_max() const
+float AP_Proximity_LightWareSF40C_v09::distance_max() const
 {
     return 100.0f;
 }
-float AP_Proximity_LightWareSF40C::distance_min() const
+float AP_Proximity_LightWareSF40C_v09::distance_min() const
 {
     return 0.20f;
 }
 
 // initialise sensor (returns true if sensor is succesfully initialised)
-bool AP_Proximity_LightWareSF40C::initialise()
+bool AP_Proximity_LightWareSF40C_v09::initialise()
 {
     // set motor direction once per second
     if (_motor_direction > 1) {
@@ -110,7 +110,7 @@ bool AP_Proximity_LightWareSF40C::initialise()
 }
 
 // initialise sector angles using user defined ignore areas
-void AP_Proximity_LightWareSF40C::init_sectors()
+void AP_Proximity_LightWareSF40C_v09::init_sectors()
 {
     // use defaults if no ignore areas defined
     uint8_t ignore_area_count = get_ignore_area_count();
@@ -170,7 +170,7 @@ void AP_Proximity_LightWareSF40C::init_sectors()
 }
 
 // set speed of rotating motor
-void AP_Proximity_LightWareSF40C::set_motor_speed(bool on_off)
+void AP_Proximity_LightWareSF40C_v09::set_motor_speed(bool on_off)
 {
     // exit immediately if no uart
     if (uart == nullptr) {
@@ -191,7 +191,7 @@ void AP_Proximity_LightWareSF40C::set_motor_speed(bool on_off)
 }
 
 // set spin direction of motor
-void AP_Proximity_LightWareSF40C::set_motor_direction()
+void AP_Proximity_LightWareSF40C_v09::set_motor_direction()
 {
     // exit immediately if no uart
     if (uart == nullptr) {
@@ -212,7 +212,7 @@ void AP_Proximity_LightWareSF40C::set_motor_direction()
 }
 
 // set forward direction (to allow rotating lidar)
-void AP_Proximity_LightWareSF40C::set_forward_direction()
+void AP_Proximity_LightWareSF40C_v09::set_forward_direction()
 {
     // exit immediately if no uart
     if (uart == nullptr) {
@@ -233,7 +233,7 @@ void AP_Proximity_LightWareSF40C::set_forward_direction()
 }
 
 // request new data if required
-void AP_Proximity_LightWareSF40C::request_new_data()
+void AP_Proximity_LightWareSF40C_v09::request_new_data()
 {
     if (uart == nullptr) {
         return;
@@ -261,7 +261,7 @@ void AP_Proximity_LightWareSF40C::request_new_data()
 }
 
 // send request for sensor health
-void AP_Proximity_LightWareSF40C::send_request_for_health()
+void AP_Proximity_LightWareSF40C_v09::send_request_for_health()
 {
     if (uart == nullptr) {
         return;
@@ -273,7 +273,7 @@ void AP_Proximity_LightWareSF40C::send_request_for_health()
 }
 
 // send request for distance from the next sector
-bool AP_Proximity_LightWareSF40C::send_request_for_distance()
+bool AP_Proximity_LightWareSF40C_v09::send_request_for_distance()
 {
     if (uart == nullptr) {
         return false;
@@ -301,7 +301,7 @@ bool AP_Proximity_LightWareSF40C::send_request_for_distance()
 }
 
 // check for replies from sensor, returns true if at least one message was processed
-bool AP_Proximity_LightWareSF40C::check_for_reply()
+bool AP_Proximity_LightWareSF40C_v09::check_for_reply()
 {
     if (uart == nullptr) {
         return false;
@@ -368,7 +368,7 @@ bool AP_Proximity_LightWareSF40C::check_for_reply()
 }
 
 // process reply
-bool AP_Proximity_LightWareSF40C::process_reply()
+bool AP_Proximity_LightWareSF40C_v09::process_reply()
 {
     if (uart == nullptr) {
         return false;
@@ -436,7 +436,7 @@ bool AP_Proximity_LightWareSF40C::process_reply()
 }
 
 // clear buffers ahead of processing next message
-void AP_Proximity_LightWareSF40C::clear_buffers()
+void AP_Proximity_LightWareSF40C_v09::clear_buffers()
 {
     element_len[0] = 0;
     element_len[1] = 0;

libraries/AP_Proximity/AP_Proximity_LightWareSF40C_v09.h

@@ -5,12 +5,12 @@
 
 #define PROXIMITY_SF40C_TIMEOUT_MS            200                               // requests timeout after 0.2 seconds
 
-class AP_Proximity_LightWareSF40C : public AP_Proximity_Backend
+class AP_Proximity_LightWareSF40C_v09 : public AP_Proximity_Backend
 {
 
 public:
     // constructor
-    AP_Proximity_LightWareSF40C(AP_Proximity &_frontend,
+    AP_Proximity_LightWareSF40C_v09(AP_Proximity &_frontend,
                                 AP_Proximity::Proximity_State &_state);
 
     // static detection function