AP_Proximity: use enum class for proximity type

Removes verbiage from AP_Proximity.cpp

libraries/AP_Proximity/AP_Proximity.cpp

@@ -215,7 +215,7 @@ void AP_Proximity::update(void)
 {
     for (uint8_t i=0; i<num_instances; i++) {
         if (drivers[i] != nullptr) {
-            if (_type[i] == Proximity_Type_None) {
+            if (get_type(i) == Type::None) {
                 // allow user to disable a proximity sensor at runtime
                 state[i].status = Proximity_NotConnected;
                 continue;
@@ -272,7 +272,7 @@ AP_Proximity::Proximity_Status AP_Proximity::get_status() const
 void AP_Proximity::handle_msg(const mavlink_message_t &msg)
 {
     for (uint8_t i=0; i<num_instances; i++) {
-        if ((drivers[i] != nullptr) && (_type[i] != Proximity_Type_None)) {
+        if (valid_instance(i)) {
             drivers[i]->handle_msg(msg);
         }
     }
@@ -281,69 +281,72 @@ void AP_Proximity::handle_msg(const mavlink_message_t &msg)
 //  detect if an instance of a proximity sensor is connected.
 void AP_Proximity::detect_instance(uint8_t instance)
 {
-    uint8_t type = _type[instance];
-    if (type == Proximity_Type_SF40C) {
+    switch (get_type(instance)) {
+    case Type::None:
+        return;
+    case Type::SF40C:
         if (AP_Proximity_LightWareSF40C::detect()) {
             state[instance].instance = instance;
             drivers[instance] = new AP_Proximity_LightWareSF40C(*this, state[instance]);
             return;
         }
-    }
-    if (type == Proximity_Type_RPLidarA2) {
+        break;
+    case Type::RPLidarA2:
         if (AP_Proximity_RPLidarA2::detect()) {
             state[instance].instance = instance;
             drivers[instance] = new AP_Proximity_RPLidarA2(*this, state[instance]);
             return;
         }
-    }
-    if (type == Proximity_Type_MAV) {
+        break;
+    case Type::MAV:
         state[instance].instance = instance;
         drivers[instance] = new AP_Proximity_MAV(*this, state[instance]);
         return;
-    }
-    if (type == Proximity_Type_TRTOWER) {
+
+    case Type::TRTOWER:
         if (AP_Proximity_TeraRangerTower::detect()) {
             state[instance].instance = instance;
             drivers[instance] = new AP_Proximity_TeraRangerTower(*this, state[instance]);
             return;
         }
-    }
-    if (type == Proximity_Type_TRTOWEREVO) {
+        break;
+    case Type::TRTOWEREVO:
         if (AP_Proximity_TeraRangerTowerEvo::detect()) {
             state[instance].instance = instance;
             drivers[instance] = new AP_Proximity_TeraRangerTowerEvo(*this, state[instance]);
             return;
         }
-    }
-    if (type == Proximity_Type_RangeFinder) {
+        break;
+
+    case Type::RangeFinder:
         state[instance].instance = instance;
         drivers[instance] = new AP_Proximity_RangeFinder(*this, state[instance]);
         return;
-    }
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    if (type == Proximity_Type_SITL) {
+    case Type::SITL:
         state[instance].instance = instance;
         drivers[instance] = new AP_Proximity_SITL(*this, state[instance]);
         return;
-    }
-    if (type == Proximity_Type_MorseSITL) {
+
+    case Type::MorseSITL:
         state[instance].instance = instance;
         drivers[instance] = new AP_Proximity_MorseSITL(*this, state[instance]);
         return;
-    }
-    if (type == Proximity_Type_AirSimSITL) {
+
+    case Type::AirSimSITL:
         state[instance].instance = instance;
         drivers[instance] = new AP_Proximity_AirSimSITL(*this, state[instance]);
         return;
-    }
 #endif
+    }
 }
 
 // get distance in meters in a particular direction in degrees (0 is forward, clockwise)
 // returns true on successful read and places distance in distance
 bool AP_Proximity::get_horizontal_distance(uint8_t instance, float angle_deg, float &distance) const
 {
-    if ((drivers[instance] == nullptr) || (_type[instance] == Proximity_Type_None)) {
+    if (!valid_instance(instance)) {
         return false;
     }
     // get distance from backend
@@ -360,7 +363,7 @@ bool AP_Proximity::get_horizontal_distance(float angle_deg, float &distance) con
 // get distances in 8 directions. used for sending distances to ground station
 bool AP_Proximity::get_horizontal_distances(Proximity_Distance_Array &prx_dist_array) const
 {
-    if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
+    if (!valid_instance(primary_instance)) {
         return false;
     }
     // get distances from backend
@@ -371,7 +374,7 @@ bool AP_Proximity::get_horizontal_distances(Proximity_Distance_Array &prx_dist_a
 //   returns nullptr and sets num_points to zero if no boundary can be returned
 const Vector2f* AP_Proximity::get_boundary_points(uint8_t instance, uint16_t& num_points) const
 {
-    if ((drivers[instance] == nullptr) || (_type[instance] == Proximity_Type_None)) {
+    if (!valid_instance(instance)) {
         num_points = 0;
         return nullptr;
     }
@@ -388,7 +391,7 @@ const Vector2f* AP_Proximity::get_boundary_points(uint16_t& num_points) const
 //   returns true on success, false if no valid readings
 bool AP_Proximity::get_closest_object(float& angle_deg, float &distance) const
 {
-    if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
+    if (!valid_instance(primary_instance)) {
         return false;
     }
     // get closest object from backend
@@ -398,7 +401,7 @@ bool AP_Proximity::get_closest_object(float& angle_deg, float &distance) const
 // get number of objects, used for non-GPS avoidance
 uint8_t AP_Proximity::get_object_count() const
 {
-    if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
+    if (!valid_instance(primary_instance)) {
         return 0;
     }
     // get count from backend
@@ -409,7 +412,7 @@ uint8_t AP_Proximity::get_object_count() const
 // returns false if no angle or distance could be returned for some reason
 bool AP_Proximity::get_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const
 {
-    if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
+    if (!valid_instance(primary_instance)) {
         return false;
     }
     // get angle and distance from backend
@@ -419,7 +422,7 @@ bool AP_Proximity::get_object_angle_and_distance(uint8_t object_number, float& a
 // get maximum and minimum distances (in meters) of primary sensor
 float AP_Proximity::distance_max() const
 {
-    if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
+    if (!valid_instance(primary_instance)) {
         return 0.0f;
     }
     // get maximum distance from backend
@@ -427,7 +430,7 @@ float AP_Proximity::distance_max() const
 }
 float AP_Proximity::distance_min() const
 {
-    if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
+    if (!valid_instance(primary_instance)) {
         return 0.0f;
     }
     // get minimum distance from backend
@@ -437,7 +440,7 @@ float AP_Proximity::distance_min() const
 // get distance in meters upwards, returns true on success
 bool AP_Proximity::get_upward_distance(uint8_t instance, float &distance) const
 {
-    if ((drivers[instance] == nullptr) || (_type[instance] == Proximity_Type_None)) {
+    if (!valid_instance(instance)) {
         return false;
     }
     // get upward distance from backend
@@ -449,12 +452,12 @@ bool AP_Proximity::get_upward_distance(float &distance) const
     return get_upward_distance(primary_instance, distance);
 }
 
-AP_Proximity::Proximity_Type AP_Proximity::get_type(uint8_t instance) const
+AP_Proximity::Type AP_Proximity::get_type(uint8_t instance) const
 {
     if (instance < PROXIMITY_MAX_INSTANCES) {
-        return (Proximity_Type)((uint8_t)_type[instance]);
+        return (Type)((uint8_t)_type[instance]);
     }
-    return Proximity_Type_None;
+    return Type::None;
 }
 
 bool AP_Proximity::sensor_present() const
@@ -463,7 +466,7 @@ bool AP_Proximity::sensor_present() const
 }
 bool AP_Proximity::sensor_enabled() const
 {
-    return _type[primary_instance] != Proximity_Type_None;
+    return get_type(primary_instance) != Type::None;
 }
 bool AP_Proximity::sensor_failed() const
 {

libraries/AP_Proximity/AP_Proximity.h

@@ -38,17 +38,19 @@ public:
     AP_Proximity &operator=(const AP_Proximity) = delete;
 
     // Proximity driver types
-    enum Proximity_Type {
-        Proximity_Type_None    = 0,
-        Proximity_Type_SF40C   = 1,
-        Proximity_Type_MAV     = 2,
-        Proximity_Type_TRTOWER = 3,
-        Proximity_Type_RangeFinder = 4,
-        Proximity_Type_RPLidarA2 = 5,
-        Proximity_Type_TRTOWEREVO = 6,
-        Proximity_Type_SITL    = 10,
-        Proximity_Type_MorseSITL = 11,
-        Proximity_Type_AirSimSITL = 12,
+    enum class Type {
+        None    = 0,
+        SF40C   = 1,
+        MAV     = 2,
+        TRTOWER = 3,
+        RangeFinder = 4,
+        RPLidarA2 = 5,
+        TRTOWEREVO = 6,
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        SITL    = 10,
+        MorseSITL = 11,
+        AirSimSITL = 12,
+#endif
     };
 
     enum Proximity_Status {
@@ -128,7 +130,7 @@ public:
     bool get_upward_distance(uint8_t instance, float &distance) const;
     bool get_upward_distance(float &distance) const;
 
-    Proximity_Type get_type(uint8_t instance) const;
+    Type get_type(uint8_t instance) const;
 
     // parameter list
     static const struct AP_Param::GroupInfo var_info[];
@@ -149,6 +151,13 @@ private:
     uint8_t primary_instance;
     uint8_t num_instances;
 
+    bool valid_instance(uint8_t i) const {
+        if (drivers[i] == nullptr) {
+            return false;
+        }
+        return (Type)_type[i].get() != Type::None;
+    }
+
     // parameters for all instances
     AP_Int8  _type[PROXIMITY_MAX_INSTANCES];
     AP_Int8  _orientation[PROXIMITY_MAX_INSTANCES];