From 9829a1d08bf7ed13378d65f2bfe58806b3d2ab92 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 Nov 2019 21:23:16 +1100
Subject: [PATCH] AP_RangeFinder: move wasp to using common serial backend

---
 .../AP_RangeFinder/AP_RangeFinder_Wasp.cpp    | 23 ++++---------------
 .../AP_RangeFinder/AP_RangeFinder_Wasp.h      | 14 ++++++-----
 2 files changed, 13 insertions(+), 24 deletions(-)

diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
index aeaffe05f2..56d11fcd30 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.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_Wasp.h"
-#include <AP_SerialManager/AP_SerialManager.h>
+
+#include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 
 extern const AP_HAL::HAL& hal;
@@ -69,24 +69,11 @@ const AP_Param::GroupInfo AP_RangeFinder_Wasp::var_info[] = {
 AP_RangeFinder_Wasp::AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
                                          AP_RangeFinder_Params &_params,
                                          uint8_t serial_instance) :
-    AP_RangeFinder_Backend(_state, _params) {
+    AP_RangeFinder_Backend_Serial(_state, _params, serial_instance)
+{
     AP_Param::setup_object_defaults(this, var_info);
 
-    const AP_SerialManager &serial_manager = AP::serialmanager();
-    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
-    if (uart != nullptr) {
-        uart->begin(115200);
-
-        // register Wasp specific parameters
-        state.var_info = var_info;
-
-        configuration_state = WASP_CFG_PROTOCOL;
-    }
-}
-
-// detection is considered as locating a serial port
-bool AP_RangeFinder_Wasp::detect(uint8_t serial_instance) {
-    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
+    state.var_info = var_info;
 }
 
 // read - return last value measured by sensor
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
index 509804b40f..ac2727a825 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
@@ -1,26 +1,29 @@
 #pragma once
 
 #include "RangeFinder.h"
-#include "RangeFinder_Backend.h"
+#include "RangeFinder_Backend_Serial.h"
 
 // WASP 200 LRF
 // http://www.attolloengineering.com/wasp-200-lrf.html
 
-class AP_RangeFinder_Wasp : public AP_RangeFinder_Backend {
+class AP_RangeFinder_Wasp : public AP_RangeFinder_Backend_Serial {
 
 public:
     AP_RangeFinder_Wasp(RangeFinder::RangeFinder_State &_state,
                         AP_RangeFinder_Params &_params,
                         uint8_t serial_instance);
 
-    static bool detect(uint8_t serial_instance);
-
     void update(void) override;
 
     static const struct AP_Param::GroupInfo var_info[];
 
 protected:
 
+    // Wasp is always 115200
+    uint32_t initial_baudrate(uint8_t serial_instance) const override {
+        return 115200;
+    }
+
     virtual MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
         return MAV_DISTANCE_SENSOR_LASER;
     }
@@ -42,13 +45,12 @@ private:
         WASP_CFG_DONE      // done configuring
     };
 
-    wasp_configuration_stage configuration_state;
+    wasp_configuration_stage configuration_state = WASP_CFG_PROTOCOL;
 
     bool get_reading(uint16_t &reading_cm);
 
     void parse_response(void);
 
-    AP_HAL::UARTDriver *uart;
     char linebuf[10];
     uint8_t linebuf_len;
     AP_Int16 mavg;