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AP_HAL_SITL: tidy creation of simulated serial rangefinders
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‎libraries/AP_HAL_SITL/SITL_State_common.cpp‎

Lines changed: 47 additions & 183 deletions
Original file line numberDiff line numberDiff line change
@@ -21,12 +21,57 @@
2121
#include <AP_HAL/utility/Socket_native.h>
2222
#include "SITL_State_common.h"
2323

24+
#include <SITL/SIM_RF_Ainstein_LR_D1.h>
25+
#include <SITL/SIM_RF_Benewake_TF02.h>
26+
#include <SITL/SIM_RF_Benewake_TF03.h>
27+
#include <SITL/SIM_RF_Benewake_TFmini.h>
28+
#include <SITL/SIM_RF_BLping.h>
29+
#include <SITL/SIM_RF_GYUS42v2.h>
30+
#include <SITL/SIM_RF_JRE.h>
31+
#include <SITL/SIM_RF_Lanbao.h>
32+
#include <SITL/SIM_RF_LeddarOne.h>
33+
#include <SITL/SIM_RF_LightWareSerialBinary.h>
34+
#include <SITL/SIM_RF_LightWareSerial.h>
35+
#include <SITL/SIM_RF_MAVLink.h>
36+
#include <SITL/SIM_RF_MaxsonarSerialLV.h>
37+
#include <SITL/SIM_RF_NMEA.h>
38+
#include <SITL/SIM_RF_NoopLoop.h>
39+
#include <SITL/SIM_RF_RDS02UF.h>
40+
#include <SITL/SIM_RF_TeraRanger_Serial.h>
41+
#include <SITL/SIM_RF_USD1_v0.h>
42+
#include <SITL/SIM_RF_USD1_v1.h>
43+
#include <SITL/SIM_RF_Wasp.h>
44+
2445
using namespace HALSITL;
2546

2647
static const struct {
2748
const char *name;
2849
SITL::SerialRangeFinder *(*createfn)();
2950
} serial_rangefinder_definitions[] {
51+
{ "ainsteinlrd1", SITL::RF_Ainstein_LR_D1::create },
52+
{ "benewake_tf02", SITL::RF_Benewake_TF02::create },
53+
{ "benewake_tf03", SITL::RF_Benewake_TF03::create },
54+
{ "benewake_tfmini", SITL::RF_Benewake_TFmini::create },
55+
{ "blping", SITL::RF_BLping::create },
56+
{ "gyus42v2", SITL::RF_GYUS42v2::create },
57+
{ "jre", SITL::RF_JRE::create },
58+
{ "lanbao", SITL::RF_Lanbao::create },
59+
{ "leddarone", SITL::RF_LeddarOne::create },
60+
{ "leddarone", SITL::RF_LeddarOne::create },
61+
{ "lightwareserial-binary", SITL::RF_LightWareSerialBinary::create },
62+
{ "lightwareserial", SITL::RF_LightWareSerial::create },
63+
{ "maxsonarseriallv", SITL::RF_MaxsonarSerialLV::create },
64+
{ "nmea", SITL::RF_NMEA::create },
65+
{ "nmea", SITL::RF_NMEA::create },
66+
{ "nooploop_tofsense", SITL::RF_Nooploop::create },
67+
{ "rds02uf", SITL::RF_RDS02UF::create },
68+
#if !defined(HAL_BUILD_AP_PERIPH)
69+
{ "rf_mavlink", SITL::RF_MAVLink::create },
70+
#endif
71+
{ "teraranger_serial", SITL::RF_TeraRanger_Serial::create },
72+
{ "USD1_v0", SITL::RF_USD1_v0::create },
73+
{ "USD1_v1", SITL::RF_USD1_v1::create },
74+
{ "wasp", SITL::RF_Wasp::create },
3075
};
3176

3277
#define streq(a, b) (!strcmp(a, b))
@@ -43,12 +88,8 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
4388
return serial_rangefinders[num_serial_rangefinders++];
4489
}
4590

46-
if (streq(name, "benewake_tf02")) {
47-
if (benewake_tf02 != nullptr) {
48-
AP_HAL::panic("Only one benewake_tf02 at a time");
49-
}
50-
benewake_tf02 = NEW_NOTHROW SITL::RF_Benewake_TF02();
51-
return benewake_tf02;
91+
if (false) {
92+
// this is an empty clause to ease else-if syntax
5293
#if !defined(HAL_BUILD_AP_PERIPH)
5394
} else if (streq(name, "vicon")) {
5495
if (vicon != nullptr) {
@@ -67,111 +108,6 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
67108
}
68109
sitl_model->set_adsb(adsb);
69110
return adsb;
70-
#endif
71-
} else if (streq(name, "ainsteinlrd1")) {
72-
if (ainsteinlrd1 != nullptr) {
73-
AP_HAL::panic("Only one ainsteinlrd1 at a time");
74-
}
75-
ainsteinlrd1 = NEW_NOTHROW SITL::RF_Ainstein_LR_D1();
76-
return ainsteinlrd1;
77-
} else if (streq(name, "benewake_tf03")) {
78-
if (benewake_tf03 != nullptr) {
79-
AP_HAL::panic("Only one benewake_tf03 at a time");
80-
}
81-
benewake_tf03 = NEW_NOTHROW SITL::RF_Benewake_TF03();
82-
return benewake_tf03;
83-
} else if (streq(name, "benewake_tfmini")) {
84-
if (benewake_tfmini != nullptr) {
85-
AP_HAL::panic("Only one benewake_tfmini at a time");
86-
}
87-
benewake_tfmini = NEW_NOTHROW SITL::RF_Benewake_TFmini();
88-
return benewake_tfmini;
89-
} else if (streq(name, "nooploop_tofsense")) {
90-
if (nooploop != nullptr) {
91-
AP_HAL::panic("Only one nooploop_tofsense at a time");
92-
}
93-
nooploop = NEW_NOTHROW SITL::RF_Nooploop();
94-
return nooploop;
95-
} else if (streq(name, "teraranger_serial")) {
96-
if (teraranger_serial != nullptr) {
97-
AP_HAL::panic("Only one teraranger_serial at a time");
98-
}
99-
teraranger_serial = NEW_NOTHROW SITL::RF_TeraRanger_Serial();
100-
return teraranger_serial;
101-
} else if (streq(name, "lightwareserial")) {
102-
if (lightwareserial != nullptr) {
103-
AP_HAL::panic("Only one lightwareserial at a time");
104-
}
105-
lightwareserial = NEW_NOTHROW SITL::RF_LightWareSerial();
106-
return lightwareserial;
107-
} else if (streq(name, "lightwareserial-binary")) {
108-
if (lightwareserial_binary != nullptr) {
109-
AP_HAL::panic("Only one lightwareserial-binary at a time");
110-
}
111-
lightwareserial_binary = NEW_NOTHROW SITL::RF_LightWareSerialBinary();
112-
return lightwareserial_binary;
113-
} else if (streq(name, "lanbao")) {
114-
if (lanbao != nullptr) {
115-
AP_HAL::panic("Only one lanbao at a time");
116-
}
117-
lanbao = NEW_NOTHROW SITL::RF_Lanbao();
118-
return lanbao;
119-
} else if (streq(name, "blping")) {
120-
if (blping != nullptr) {
121-
AP_HAL::panic("Only one blping at a time");
122-
}
123-
blping = NEW_NOTHROW SITL::RF_BLping();
124-
return blping;
125-
} else if (streq(name, "leddarone")) {
126-
if (leddarone != nullptr) {
127-
AP_HAL::panic("Only one leddarone at a time");
128-
}
129-
leddarone = NEW_NOTHROW SITL::RF_LeddarOne();
130-
return leddarone;
131-
} else if (streq(name, "rds02uf")) {
132-
if (rds02uf != nullptr) {
133-
AP_HAL::panic("Only one rds02uf at a time");
134-
}
135-
rds02uf = NEW_NOTHROW SITL::RF_RDS02UF();
136-
return rds02uf;
137-
} else if (streq(name, "USD1_v0")) {
138-
if (USD1_v0 != nullptr) {
139-
AP_HAL::panic("Only one USD1_v0 at a time");
140-
}
141-
USD1_v0 = NEW_NOTHROW SITL::RF_USD1_v0();
142-
return USD1_v0;
143-
} else if (streq(name, "USD1_v1")) {
144-
if (USD1_v1 != nullptr) {
145-
AP_HAL::panic("Only one USD1_v1 at a time");
146-
}
147-
USD1_v1 = NEW_NOTHROW SITL::RF_USD1_v1();
148-
return USD1_v1;
149-
} else if (streq(name, "maxsonarseriallv")) {
150-
if (maxsonarseriallv != nullptr) {
151-
AP_HAL::panic("Only one maxsonarseriallv at a time");
152-
}
153-
maxsonarseriallv = NEW_NOTHROW SITL::RF_MaxsonarSerialLV();
154-
return maxsonarseriallv;
155-
} else if (streq(name, "wasp")) {
156-
if (wasp != nullptr) {
157-
AP_HAL::panic("Only one wasp at a time");
158-
}
159-
wasp = NEW_NOTHROW SITL::RF_Wasp();
160-
return wasp;
161-
} else if (streq(name, "nmea")) {
162-
if (nmea != nullptr) {
163-
AP_HAL::panic("Only one nmea at a time");
164-
}
165-
nmea = NEW_NOTHROW SITL::RF_NMEA();
166-
return nmea;
167-
168-
#if !defined(HAL_BUILD_AP_PERIPH)
169-
} else if (streq(name, "rf_mavlink")) {
170-
if (rf_mavlink != nullptr) {
171-
AP_HAL::panic("Only one rf_mavlink at a time");
172-
}
173-
rf_mavlink = NEW_NOTHROW SITL::RF_MAVLink();
174-
return rf_mavlink;
175111
#endif
176112
} else if (streq(name, "frsky-d")) {
177113
if (frsky_d != nullptr) {
@@ -260,18 +196,6 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
260196
sitl_model->set_ie24(&_sitl->ie24_sim);
261197
return &_sitl->ie24_sim;
262198
#endif // HAL_BUILD_AP_PERIPH
263-
} else if (streq(name, "jre")) {
264-
if (jre != nullptr) {
265-
AP_HAL::panic("Only one jre at a time");
266-
}
267-
jre = NEW_NOTHROW SITL::RF_JRE();
268-
return jre;
269-
} else if (streq(name, "gyus42v2")) {
270-
if (gyus42v2 != nullptr) {
271-
AP_HAL::panic("Only one gyus42v2 at a time");
272-
}
273-
gyus42v2 = NEW_NOTHROW SITL::RF_GYUS42v2();
274-
return gyus42v2;
275199
} else if (streq(name, "megasquirt")) {
276200
if (efi_ms != nullptr) {
277201
AP_HAL::panic("Only one megasquirt at a time");
@@ -364,66 +288,6 @@ void SITL_State_Common::sim_update(void)
364288
attitude);
365289
}
366290
#endif
367-
if (ainsteinlrd1 != nullptr) {
368-
ainsteinlrd1->update(sitl_model->rangefinder_range());
369-
}
370-
if (benewake_tf02 != nullptr) {
371-
benewake_tf02->update(sitl_model->rangefinder_range());
372-
}
373-
if (benewake_tf03 != nullptr) {
374-
benewake_tf03->update(sitl_model->rangefinder_range());
375-
}
376-
if (benewake_tfmini != nullptr) {
377-
benewake_tfmini->update(sitl_model->rangefinder_range());
378-
}
379-
if (jre != nullptr) {
380-
jre->update(sitl_model->rangefinder_range());
381-
}
382-
if (nooploop != nullptr) {
383-
nooploop->update(sitl_model->rangefinder_range());
384-
}
385-
if (teraranger_serial != nullptr) {
386-
teraranger_serial->update(sitl_model->rangefinder_range());
387-
}
388-
if (lightwareserial != nullptr) {
389-
lightwareserial->update(sitl_model->rangefinder_range());
390-
}
391-
if (lightwareserial_binary != nullptr) {
392-
lightwareserial_binary->update(sitl_model->rangefinder_range());
393-
}
394-
if (lanbao != nullptr) {
395-
lanbao->update(sitl_model->rangefinder_range());
396-
}
397-
if (blping != nullptr) {
398-
blping->update(sitl_model->rangefinder_range());
399-
}
400-
if (leddarone != nullptr) {
401-
leddarone->update(sitl_model->rangefinder_range());
402-
}
403-
if (rds02uf != nullptr) {
404-
rds02uf->update(sitl_model->rangefinder_range());
405-
}
406-
if (USD1_v0 != nullptr) {
407-
USD1_v0->update(sitl_model->rangefinder_range());
408-
}
409-
if (USD1_v1 != nullptr) {
410-
USD1_v1->update(sitl_model->rangefinder_range());
411-
}
412-
if (maxsonarseriallv != nullptr) {
413-
maxsonarseriallv->update(sitl_model->rangefinder_range());
414-
}
415-
if (wasp != nullptr) {
416-
wasp->update(sitl_model->rangefinder_range());
417-
}
418-
if (nmea != nullptr) {
419-
nmea->update(sitl_model->rangefinder_range());
420-
}
421-
if (rf_mavlink != nullptr) {
422-
rf_mavlink->update(sitl_model->rangefinder_range());
423-
}
424-
if (gyus42v2 != nullptr) {
425-
gyus42v2->update(sitl_model->rangefinder_range());
426-
}
427291
for (uint8_t i=0; i<num_serial_rangefinders; i++) {
428292
serial_rangefinders[i]->update(sitl_model->rangefinder_range());
429293
}

‎libraries/AP_HAL_SITL/SITL_State_common.h‎

Lines changed: 2 additions & 62 deletions
Original file line numberDiff line numberDiff line change
@@ -14,32 +14,14 @@
1414
#include <SITL/SIM_ADSB_Sagetech_MXS.h>
1515
#include <SITL/SIM_EFI_Hirth.h>
1616
#include <SITL/SIM_Vicon.h>
17-
#include <SITL/SIM_RF_Ainstein_LR_D1.h>
18-
#include <SITL/SIM_RF_Benewake_TF02.h>
19-
#include <SITL/SIM_RF_Benewake_TF03.h>
20-
#include <SITL/SIM_RF_Benewake_TFmini.h>
21-
#include <SITL/SIM_RF_NoopLoop.h>
22-
#include <SITL/SIM_RF_TeraRanger_Serial.h>
23-
#include <SITL/SIM_RF_JRE.h>
24-
#include <SITL/SIM_RF_LightWareSerial.h>
25-
#include <SITL/SIM_RF_LightWareSerialBinary.h>
26-
#include <SITL/SIM_RF_Lanbao.h>
27-
#include <SITL/SIM_RF_BLping.h>
28-
#include <SITL/SIM_RF_LeddarOne.h>
29-
#include <SITL/SIM_RF_RDS02UF.h>
30-
#include <SITL/SIM_RF_USD1_v0.h>
31-
#include <SITL/SIM_RF_USD1_v1.h>
32-
#include <SITL/SIM_RF_MaxsonarSerialLV.h>
33-
#include <SITL/SIM_RF_Wasp.h>
34-
#include <SITL/SIM_RF_NMEA.h>
35-
#include <SITL/SIM_RF_MAVLink.h>
36-
#include <SITL/SIM_RF_GYUS42v2.h>
3717
#include <SITL/SIM_VectorNav.h>
3818
#include <SITL/SIM_MicroStrain.h>
3919
#include <SITL/SIM_InertialLabs.h>
4020
#include <SITL/SIM_AIS.h>
4121
#include <SITL/SIM_GPS.h>
4222

23+
#include <SITL/SIM_SerialRangeFinder.h>
24+
4325
#include <SITL/SIM_Frsky_D.h>
4426
#include <SITL/SIM_CRSF.h>
4527
// #include <SITL/SIM_Frsky_SPort.h>
@@ -128,48 +110,6 @@ class HALSITL::SITL_State_Common {
128110
SITL::SerialRangeFinder *serial_rangefinders[16];
129111
uint8_t num_serial_rangefinders;
130112

131-
// simulated Ainstein LR-D1 rangefinder:
132-
SITL::RF_Ainstein_LR_D1 *ainsteinlrd1;
133-
// simulated Benewake tf02 rangefinder:
134-
SITL::RF_Benewake_TF02 *benewake_tf02;
135-
// simulated Benewake tf03 rangefinder:
136-
SITL::RF_Benewake_TF03 *benewake_tf03;
137-
//simulated JAE JRE rangefinder:
138-
SITL::RF_JRE *jre;
139-
// simulated Benewake tfmini rangefinder:
140-
SITL::RF_Benewake_TFmini *benewake_tfmini;
141-
//simulated NoopLoop TOFSense rangefinder:
142-
SITL::RF_Nooploop *nooploop;
143-
// simulated TeraRanger Serial:
144-
SITL::RF_TeraRanger_Serial *teraranger_serial;
145-
146-
// simulated LightWareSerial rangefinder - legacy protocol::
147-
SITL::RF_LightWareSerial *lightwareserial;
148-
// simulated LightWareSerial rangefinder - binary protocol:
149-
SITL::RF_LightWareSerialBinary *lightwareserial_binary;
150-
// simulated Lanbao rangefinder:
151-
SITL::RF_Lanbao *lanbao;
152-
// simulated BLping rangefinder:
153-
SITL::RF_BLping *blping;
154-
// simulated LeddarOne rangefinder:
155-
SITL::RF_LeddarOne *leddarone;
156-
// simulated RDS02UF rangefinder:
157-
SITL::RF_RDS02UF *rds02uf;
158-
// simulated USD1 v0 rangefinder:
159-
SITL::RF_USD1_v0 *USD1_v0;
160-
// simulated USD1 v1 rangefinder:
161-
SITL::RF_USD1_v1 *USD1_v1;
162-
// simulated MaxsonarSerialLV rangefinder:
163-
SITL::RF_MaxsonarSerialLV *maxsonarseriallv;
164-
// simulated Wasp rangefinder:
165-
SITL::RF_Wasp *wasp;
166-
// simulated NMEA rangefinder:
167-
SITL::RF_NMEA *nmea;
168-
// simulated MAVLink rangefinder:
169-
SITL::RF_MAVLink *rf_mavlink;
170-
// simulated GYUS42v2 rangefinder:
171-
SITL::RF_GYUS42v2 *gyus42v2;
172-
173113
// simulated Frsky devices
174114
SITL::Frsky_D *frsky_d;
175115
// SITL::Frsky_SPort *frsky_sport;

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