From 7008558facd9da78f85373c29b0c72b04d188368 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 19 Jan 2019 13:02:53 -0500
Subject: [PATCH] drivers/distance_sensor replace std::vector usage with
px4::Array
---
src/drivers/distance_sensor/CMakeLists.txt | 6 +++---
src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp | 10 +++++-----
src/drivers/distance_sensor/mb12xx/mb12xx.cpp | 8 ++------
src/drivers/distance_sensor/sf1xx/sf1xx.cpp | 1 -
src/drivers/distance_sensor/srf02/srf02.cpp | 8 ++------
src/drivers/distance_sensor/ulanding/ulanding.cpp | 1 -
6 files changed, 12 insertions(+), 22 deletions(-)
diff --git a/src/drivers/distance_sensor/CMakeLists.txt b/src/drivers/distance_sensor/CMakeLists.txt
index e6d2e316ab..eade835ccc 100644
--- a/src/drivers/distance_sensor/CMakeLists.txt
+++ b/src/drivers/distance_sensor/CMakeLists.txt
@@ -31,16 +31,16 @@
#
############################################################################
+add_subdirectory(cm8jl65)
#add_subdirectory(hc_sr04) # not currently supported
+add_subdirectory(leddar_one)
add_subdirectory(ll40ls)
add_subdirectory(mb12xx)
+add_subdirectory(pga460)
add_subdirectory(sf0x)
add_subdirectory(sf1xx)
add_subdirectory(srf02)
add_subdirectory(teraranger)
add_subdirectory(tfmini)
add_subdirectory(ulanding)
-add_subdirectory(leddar_one)
add_subdirectory(vl53lxx)
-add_subdirectory(pga460)
-add_subdirectory(cm8jl65)
diff --git a/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp b/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
index 60d9d15a9d..8e806ff6f1 100644
--- a/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
+++ b/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
@@ -41,6 +41,7 @@
#include <px4_workqueue.h>
#include <drivers/device/device.h>
#include <px4_defines.h>
+#include <containers/Array.hpp>
#include <sys/types.h>
#include <stdint.h>
@@ -54,7 +55,6 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
-#include <vector>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
@@ -86,7 +86,7 @@
class HC_SR04 : public cdev::CDev
{
public:
- HC_SR04(unsigned sonars = 6);
+ HC_SR04();
virtual ~HC_SR04();
virtual int init();
@@ -123,9 +123,9 @@ private:
int _cycling_rate; /* */
uint8_t _index_counter; /* temporary sonar i2c address */
- std::vector<float>
+ px4::Array<float, 6>
_latest_sonar_measurements; /* vector to store latest sonar measurements in before writing to report */
- unsigned _sonars;
+ unsigned _sonars{6};
struct GPIOConfig {
uint32_t trig_port;
uint32_t echo_port;
@@ -200,7 +200,7 @@ const HC_SR04::GPIOConfig HC_SR04::_gpio_tab[] = {
extern "C" __EXPORT int hc_sr04_main(int argc, char *argv[]);
static int sonar_isr(int irq, void *context);
-HC_SR04::HC_SR04(unsigned sonars) :
+HC_SR04::HC_SR04() :
CDev(SR04_DEVICE_PATH, 0),
_min_distance(SR04_MIN_DISTANCE),
_max_distance(SR04_MAX_DISTANCE),
diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index f1d5ceaef6..7001ab7d3a 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -42,6 +42,7 @@
#include <px4_config.h>
#include <px4_getopt.h>
#include <px4_workqueue.h>
+#include <containers/Array.hpp>
#include <drivers/device/i2c.h>
@@ -56,7 +57,6 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
-#include <vector>
#include <perf/perf_counter.h>
@@ -131,10 +131,7 @@ private:
uint8_t _cycle_counter; /* counter in cycle to change i2c adresses */
int _cycling_rate; /* */
uint8_t _index_counter; /* temporary sonar i2c address */
- std::vector<uint8_t> addr_ind; /* temp sonar i2c address vector */
- std::vector<float>
- _latest_sonar_measurements; /* vector to store latest sonar measurements in before writing to report */
-
+ px4::Array<uint8_t, MB12XX_MAX_RANGEFINDERS> addr_ind; /* temp sonar i2c address vector */
/**
* Test whether the device supported by the driver is present at a
@@ -277,7 +274,6 @@ MB12XX::init()
if (ret2 == 0) { /* sonar is present -> store address_index in array */
addr_ind.push_back(_index_counter);
PX4_DEBUG("sonar added");
- _latest_sonar_measurements.push_back(200);
}
}
diff --git a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
index de9791e12e..2d5ae43446 100644
--- a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+++ b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
@@ -60,7 +60,6 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
-#include <vector>
#include <perf/perf_counter.h>
diff --git a/src/drivers/distance_sensor/srf02/srf02.cpp b/src/drivers/distance_sensor/srf02/srf02.cpp
index 4a64e43d56..71231d9e00 100644
--- a/src/drivers/distance_sensor/srf02/srf02.cpp
+++ b/src/drivers/distance_sensor/srf02/srf02.cpp
@@ -41,6 +41,7 @@
#include <px4_defines.h>
#include <px4_getopt.h>
#include <px4_workqueue.h>
+#include <containers/Array.hpp>
#include <drivers/device/i2c.h>
@@ -55,7 +56,6 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
-#include <vector>
#include <perf/perf_counter.h>
@@ -131,10 +131,7 @@ private:
uint8_t _cycle_counter; /* counter in cycle to change i2c adresses */
int _cycling_rate; /* */
uint8_t _index_counter; /* temporary sonar i2c address */
- std::vector<uint8_t> addr_ind; /* temp sonar i2c address vector */
- std::vector<float>
- _latest_sonar_measurements; /* vector to store latest sonar measurements in before writing to report */
-
+ px4::Array<uint8_t, MB12XX_MAX_RANGEFINDERS> addr_ind; /* temp sonar i2c address vector */
/**
* Test whether the device supported by the driver is present at a
@@ -277,7 +274,6 @@ SRF02::init()
if (ret2 == 0) { /* sonar is present -> store address_index in array */
addr_ind.push_back(_index_counter);
PX4_DEBUG("sonar added");
- _latest_sonar_measurements.push_back(200);
}
}
diff --git a/src/drivers/distance_sensor/ulanding/ulanding.cpp b/src/drivers/distance_sensor/ulanding/ulanding.cpp
index 7e88c4b6f3..f357aa9143 100644
--- a/src/drivers/distance_sensor/ulanding/ulanding.cpp
+++ b/src/drivers/distance_sensor/ulanding/ulanding.cpp
@@ -55,7 +55,6 @@
#include <stdio.h>
#include <math.h>
#include <unistd.h>
-#include <vector>
#include <perf/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/device/ringbuffer.h>
--
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