AP_Proximity: use enum class for status

libraries/AP_Proximity/AP_Proximity.cpp

@@ -206,7 +206,7 @@ void AP_Proximity::init(void)
         }
 
         // initialise status
-        state[i].status = Proximity_NotConnected;
+        state[i].status = Status::NotConnected;
     }
 }
 
@@ -222,7 +222,7 @@ void AP_Proximity::update(void)
 
     // work out primary instance - first sensor returning good data
     for (int8_t i=num_instances-1; i>=0; i--) {
-        if (drivers[i] != nullptr && (state[i].status == Proximity_Good)) {
+        if (drivers[i] != nullptr && (state[i].status == Status::Good)) {
             primary_instance = i;
         }
     }
@@ -249,17 +249,17 @@ int16_t AP_Proximity::get_yaw_correction(uint8_t instance) const
 }
 
 // return sensor health
-AP_Proximity::Proximity_Status AP_Proximity::get_status(uint8_t instance) const
+AP_Proximity::Status AP_Proximity::get_status(uint8_t instance) const
 {
     // sanity check instance number
     if (!valid_instance(instance)) {
-        return Proximity_NotConnected;
+        return Status::NotConnected;
     }
 
     return state[instance].status;
 }
 
-AP_Proximity::Proximity_Status AP_Proximity::get_status() const
+AP_Proximity::Status AP_Proximity::get_status() const
 {
     return get_status(primary_instance);
 }
@@ -458,7 +458,7 @@ AP_Proximity::Type AP_Proximity::get_type(uint8_t instance) const
 
 bool AP_Proximity::sensor_present() const
 {
-    return get_status() != Proximity_NotConnected;
+    return get_status() != Status::NotConnected;
 }
 bool AP_Proximity::sensor_enabled() const
 {
@@ -466,7 +466,7 @@ bool AP_Proximity::sensor_enabled() const
 }
 bool AP_Proximity::sensor_failed() const
 {
-    return get_status() != Proximity_Good;
+    return get_status() != Status::Good;
 }
 
 AP_Proximity *AP_Proximity::_singleton;

libraries/AP_Proximity/AP_Proximity.h

@@ -53,10 +53,10 @@ public:
 #endif
     };
 
-    enum Proximity_Status {
-        Proximity_NotConnected = 0,
-        Proximity_NoData,
-        Proximity_Good
+    enum Status {
+        NotConnected = 0,
+        NoData,
+        Good
     };
 
     // structure holding distances in PROXIMITY_MAX_DIRECTION directions. used for sending distances to ground station
@@ -80,8 +80,8 @@ public:
     int16_t get_yaw_correction(uint8_t instance) const;
 
     // return sensor health
-    Proximity_Status get_status(uint8_t instance) const;
-    Proximity_Status get_status() const;
+    Status get_status(uint8_t instance) const;
+    Status get_status() const;
 
     // Return the number of proximity sensors
     uint8_t num_sensors(void) const {
@@ -119,7 +119,7 @@ public:
     // The Proximity_State structure is filled in by the backend driver
     struct Proximity_State {
         uint8_t                 instance;   // the instance number of this proximity sensor
-        enum Proximity_Status   status;     // sensor status
+        Status   status;     // sensor status
     };
 
     //

libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp

@@ -38,11 +38,11 @@ void AP_Proximity_AirSimSITL::update(void)
 {
     SITL::vector3f_array &points = sitl->state.scanner.points;
     if (points.length == 0) {
-        set_status(AP_Proximity::Proximity_NoData);
+        set_status(AP_Proximity::Status::NoData);
         return;
     }
 
-    set_status(AP_Proximity::Proximity_Good);
+    set_status(AP_Proximity::Status::Good);
 
     memset(_distance_valid, 0, sizeof(_distance_valid));
     memset(_angle, 0, sizeof(_angle));

libraries/AP_Proximity/AP_Proximity_Backend.cpp

@@ -142,7 +142,7 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist
 const Vector2f* AP_Proximity_Backend::get_boundary_points(uint16_t& num_points) const
 {
     // high-level status check
-    if (state.status != AP_Proximity::Proximity_Good) {
+    if (state.status != AP_Proximity::Status::Good) {
         num_points = 0;
         return nullptr;
     }
@@ -236,7 +236,7 @@ void AP_Proximity_Backend::update_boundary_for_sector(const uint8_t sector, cons
 }
 
 // set status and update valid count
-void AP_Proximity_Backend::set_status(AP_Proximity::Proximity_Status status)
+void AP_Proximity_Backend::set_status(AP_Proximity::Status status)
 {
     state.status = status;
 }

libraries/AP_Proximity/AP_Proximity_Backend.h

@@ -68,7 +68,7 @@ public:
 protected:
 
     // set status and update valid_count
-    void set_status(AP_Proximity::Proximity_Status status);
+    void set_status(AP_Proximity::Status status);
 
     // find which sector a given angle falls into
     bool convert_angle_to_sector(float angle_degrees, uint8_t &sector) const;

libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp

@@ -63,9 +63,9 @@ void AP_Proximity_LightWareSF40C::update(void)
 
     // check for timeout and set health status
     if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_SF40C_TIMEOUT_MS)) {
-        set_status(AP_Proximity::Proximity_NoData);
+        set_status(AP_Proximity::Status::NoData);
     } else {
-        set_status(AP_Proximity::Proximity_Good);
+        set_status(AP_Proximity::Status::Good);
     }
 }
 

libraries/AP_Proximity/AP_Proximity_MAV.cpp

@@ -40,9 +40,9 @@ void AP_Proximity_MAV::update(void)
     // check for timeout and set health status
     if ((_last_update_ms == 0 || (AP_HAL::millis() - _last_update_ms > PROXIMITY_MAV_TIMEOUT_MS)) &&
         (_last_upward_update_ms == 0 || (AP_HAL::millis() - _last_upward_update_ms > PROXIMITY_MAV_TIMEOUT_MS))) {
-        set_status(AP_Proximity::Proximity_NoData);
+        set_status(AP_Proximity::Status::NoData);
     } else {
-        set_status(AP_Proximity::Proximity_Good);
+        set_status(AP_Proximity::Status::Good);
     }
 }
 

libraries/AP_Proximity/AP_Proximity_MorseSITL.cpp

@@ -41,11 +41,11 @@ void AP_Proximity_MorseSITL::update(void)
     SITL::float_array &ranges = sitl->state.scanner.ranges;
     if (points.length != ranges.length ||
         points.length == 0) {
-        set_status(AP_Proximity::Proximity_NoData);
+        set_status(AP_Proximity::Status::NoData);
         return;
     }
 
-    set_status(AP_Proximity::Proximity_Good);
+    set_status(AP_Proximity::Status::Good);
 
     memset(_distance_valid, 0, sizeof(_distance_valid));
     memset(_angle, 0, sizeof(_angle));

libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp

@@ -109,10 +109,10 @@ void AP_Proximity_RPLidarA2::update(void)
 
     // check for timeout and set health status
     if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > COMM_ACTIVITY_TIMEOUT_MS)) {
-        set_status(AP_Proximity::Proximity_NoData);
+        set_status(AP_Proximity::Status::NoData);
         Debug(1, "LIDAR NO DATA");
     } else {
-        set_status(AP_Proximity::Proximity_Good);
+        set_status(AP_Proximity::Status::Good);
     }
 }
 

libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp

@@ -35,7 +35,7 @@ void AP_Proximity_RangeFinder::update(void)
     // exit immediately if no rangefinder object
     const RangeFinder *rngfnd = frontend.get_rangefinder();
     if (rngfnd == nullptr) {
-        set_status(AP_Proximity::Proximity_NoData);
+        set_status(AP_Proximity::Status::NoData);
         return;
     }
 
@@ -76,9 +76,9 @@ void AP_Proximity_RangeFinder::update(void)
 
     // check for timeout and set health status
     if ((_last_update_ms == 0) || (now - _last_update_ms > PROXIMITY_RANGEFIDER_TIMEOUT_MS)) {
-        set_status(AP_Proximity::Proximity_NoData);
+        set_status(AP_Proximity::Status::NoData);
     } else {
-        set_status(AP_Proximity::Proximity_Good);
+        set_status(AP_Proximity::Status::Good);
     }
 }
 

libraries/AP_Proximity/AP_Proximity_SITL.cpp

@@ -54,7 +54,7 @@ void AP_Proximity_SITL::update(void)
     if (AP::fence()->polyfence().inclusion_boundary_available()) {
         // update distance in one sector
         if (get_distance_to_fence(_sector_middle_deg[last_sector], _distance[last_sector])) {
-            set_status(AP_Proximity::Proximity_Good);
+            set_status(AP_Proximity::Status::Good);
             _distance_valid[last_sector] = true;
             _angle[last_sector] = _sector_middle_deg[last_sector];
             update_boundary_for_sector(last_sector, true);
@@ -66,7 +66,7 @@ void AP_Proximity_SITL::update(void)
             last_sector = 0;
         }
     } else {
-        set_status(AP_Proximity::Proximity_NoData);        
+        set_status(AP_Proximity::Status::NoData);
     }
 }
 

libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp

@@ -60,9 +60,9 @@ void AP_Proximity_TeraRangerTower::update(void)
 
     // check for timeout and set health status
     if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_TRTOWER_TIMEOUT_MS)) {
-        set_status(AP_Proximity::Proximity_NoData);
+        set_status(AP_Proximity::Status::NoData);
     } else {
-        set_status(AP_Proximity::Proximity_Good);
+        set_status(AP_Proximity::Status::Good);
     }
 }
 

libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp

@@ -64,9 +64,9 @@ void AP_Proximity_TeraRangerTowerEvo::update(void)
 
     // check for timeout and set health status
     if ((_last_distance_received_ms == 0) || (AP_HAL::millis() - _last_distance_received_ms > PROXIMITY_TRTOWER_TIMEOUT_MS)) {
-        set_status(AP_Proximity::Proximity_NoData);
+        set_status(AP_Proximity::Status::NoData);
     } else {
-        set_status(AP_Proximity::Proximity_Good);
+        set_status(AP_Proximity::Status::Good);
     }
 }