drivers/distance_sensor replace std::vector usage with px4::Array

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)

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),

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);
 		}
 	}
 

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>
 

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);
 		}
 	}
 

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>