distance_sensor/sf0x: rename to lightware_laser_serial

boards/px4/fmu-v2/default.cmake

@@ -28,7 +28,7 @@ px4_add_board(
 		differential_pressure/ms4525
 		#distance_sensor # all available distance sensor drivers
 		#distance_sensor/ll40ls
-		#distance_sensor/sf0x
+		#distance_sensor/lightware_laser_serial
 		#dshot
 		gps
 		#heater

boards/px4/fmu-v2/fixedwing.cmake

@@ -26,7 +26,7 @@ px4_add_board(
 		differential_pressure # all available differential pressure drivers
 		#distance_sensor # all available distance sensor drivers
 		distance_sensor/ll40ls
-		distance_sensor/sf0x
+		distance_sensor/lightware_laser_serial
 		gps
 		imu/l3gd20
 		imu/lsm303d

boards/px4/fmu-v2/test.cmake

@@ -27,7 +27,7 @@ px4_add_board(
 		differential_pressure/ms4525
 		#distance_sensor # all available distance sensor drivers
 		distance_sensor/ll40ls
-		distance_sensor/sf0x
+		distance_sensor/lightware_laser_serial
 		#dshot
 		gps
 		#heater

platforms/posix/cmake/sitl_tests.cmake

@@ -33,7 +33,7 @@ set(tests
 	rc
 	search_min
 	servo
-	#sf0x
+	#lightware_laser
 	sleep
 	uorb
 	versioning

src/drivers/distance_sensor/CMakeLists.txt

@@ -38,8 +38,8 @@ add_subdirectory(ll40ls_pwm)
 add_subdirectory(mappydot)
 add_subdirectory(mb12xx)
 add_subdirectory(pga460)
-add_subdirectory(sf0x)
 add_subdirectory(lightware_laser_i2c)
+add_subdirectory(lightware_laser_serial)
 add_subdirectory(srf02)
 add_subdirectory(teraranger)
 add_subdirectory(tfmini)

src/drivers/distance_sensor/lightware_laser_serial/CMakeLists.txt

@@ -31,15 +31,15 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE drivers__sf0x
+	MODULE drivers__distance_sensor__lightware_laser_serial
-	MAIN sf0x
+	MAIN lightware_laser_serial
 	COMPILE_FLAGS
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
-		SF0X.cpp
+		lightware_laser_serial.cpp
-		SF0X.hpp
+		lightware_laser_serial.hpp
-		sf0x_main.cpp
+		lightware_laser_serial_main.cpp
-		sf0x_parser.cpp
+		parser.cpp
 	DEPENDS
 		drivers_rangefinder
 		px4_work_queue
@@ -48,5 +48,5 @@ px4_add_module(
 	)
 
 if(PX4_TESTING)
-	add_subdirectory(sf0x_tests)
+	add_subdirectory(tests)
 endif()

src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial.cpp

@@ -31,15 +31,15 @@
  *
  ****************************************************************************/
 
-#include "SF0X.hpp"
+#include "lightware_laser_serial.hpp"
 
 #include <fcntl.h>
 #include <termios.h>
 
 /* Configuration Constants */
-#define SF0X_TAKE_RANGE_REG		'd'
+#define LW_TAKE_RANGE_REG		'd'
 
-SF0X::SF0X(const char *port, uint8_t rotation) :
+LightwareLaserSerial::LightwareLaserSerial(const char *port, uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
 	_px4_rangefinder(0 /* device id not yet used */, rotation),
 	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@@ -52,7 +52,7 @@ SF0X::SF0X(const char *port, uint8_t rotation) :
 	_port[sizeof(_port) - 1] = '\0';
 }
 
-SF0X::~SF0X()
+LightwareLaserSerial::~LightwareLaserSerial()
 {
 	stop();
 
@@ -61,7 +61,7 @@ SF0X::~SF0X()
 }
 
 int
-SF0X::init()
+LightwareLaserSerial::init()
 {
 	int32_t hw_model = 0;
 	param_get(param_find("SENS_EN_SF0X"), &hw_model);
@@ -108,10 +108,10 @@ SF0X::init()
 	return PX4_OK;
 }
 
-int SF0X::measure()
+int LightwareLaserSerial::measure()
 {
 	// Send the command to begin a measurement.
-	char cmd = SF0X_TAKE_RANGE_REG;
+	char cmd = LW_TAKE_RANGE_REG;
 	int ret = ::write(_fd, &cmd, 1);
 
 	if (ret != sizeof(cmd)) {
@@ -123,7 +123,7 @@ int SF0X::measure()
 	return PX4_OK;
 }
 
-int SF0X::collect()
+int LightwareLaserSerial::collect()
 {
 	perf_begin(_sample_perf);
 
@@ -161,7 +161,7 @@ int SF0X::collect()
 	bool valid = false;
 
 	for (int i = 0; i < ret; i++) {
-		if (OK == sf0x_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &distance_m)) {
+		if (OK == lightware_parser(readbuf[i], _linebuf, &_linebuf_index, &_parse_state, &distance_m)) {
 			valid = true;
 		}
 	}
@@ -179,7 +179,7 @@ int SF0X::collect()
 	return PX4_OK;
 }
 
-void SF0X::start()
+void LightwareLaserSerial::start()
 {
 	/* reset the report ring and state machine */
 	_collect_phase = false;
@@ -188,12 +188,12 @@ void SF0X::start()
 	ScheduleNow();
 }
 
-void SF0X::stop()
+void LightwareLaserSerial::stop()
 {
 	ScheduleClear();
 }
 
-void SF0X::Run()
+void LightwareLaserSerial::Run()
 {
 	/* fds initialized? */
 	if (_fd < 0) {
@@ -293,7 +293,7 @@ void SF0X::Run()
 	ScheduleDelayed(_interval);
 }
 
-void SF0X::print_info()
+void LightwareLaserSerial::print_info()
 {
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);

src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial.hpp

@@ -32,11 +32,11 @@
  ****************************************************************************/
 
 /**
- * @file SF0X.hpp
+ * @file lightware_laser_serial.hpp
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Greg Hulands
  *
- * Driver for the Lightware SF0x laser rangefinder series
+ * Driver for the Lightware laser rangefinder series
  */
 
 #pragma once
@@ -48,13 +48,13 @@
 #include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
 
-#include "sf0x_parser.h"
+#include "parser.h"
 
-class SF0X : public px4::ScheduledWorkItem
+class LightwareLaserSerial : public px4::ScheduledWorkItem
 {
 public:
-	SF0X(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
+	LightwareLaserSerial(const char *port, uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
-	~SF0X() override;
+	~LightwareLaserSerial() override;
 
 	int 			init();
 	void				print_info();
@@ -67,7 +67,6 @@ private:
 	int				measure();
 	int				collect();
 
-
 	PX4Rangefinder                  _px4_rangefinder;
 
 	char 				_port[20] {};
@@ -76,7 +75,7 @@ private:
 	int				_fd{-1};
 	char				_linebuf[10] {};
 	unsigned			_linebuf_index{0};
-	enum SF0X_PARSE_STATE		_parse_state {SF0X_PARSE_STATE0_UNSYNC};
+	enum LW_PARSE_STATE		_parse_state {LW_PARSE_STATE0_UNSYNC};
 	hrt_abstime			_last_read{0};
 
 	unsigned			_consecutive_fail_count;
@@ -84,6 +83,4 @@ private:
 	perf_counter_t			_sample_perf;
 	perf_counter_t			_comms_errors;
 
-
-
 };

src/drivers/distance_sensor/lightware_laser_serial/lightware_laser_serial_main.cpp

@@ -31,15 +31,15 @@
  *
  ****************************************************************************/
 
-#include "SF0X.hpp"
+#include "lightware_laser_serial.hpp"
 
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/module.h>
 
-namespace sf0x
+namespace lightware_laser
 {
 
-SF0X *g_dev{nullptr};
+LightwareLaserSerial *g_dev{nullptr};
 
 static int start(const char *port, uint8_t rotation)
 {
@@ -54,7 +54,7 @@ static int start(const char *port, uint8_t rotation)
 	}
 
 	/* create the driver */
-	g_dev = new SF0X(port, rotation);
+	g_dev = new LightwareLaserSerial(port, rotation);
 
 	if (g_dev == nullptr) {
 		return -1;
@@ -109,12 +109,12 @@ Setup/usage information: https://docs.px4.io/master/en/sensor/sfxx_lidar.html
 ### Examples
 
 Attempt to start driver on a specified serial device.
-$ sf0x start -d /dev/ttyS1
+$ lightware_laser_serial start -d /dev/ttyS1
 Stop driver
-$ sf0x stop
+$ lightware_laser_serial stop
 )DESCR_STR");
 
-	PRINT_MODULE_USAGE_NAME("sf0x", "driver");
+	PRINT_MODULE_USAGE_NAME("lightware_laser_serial", "driver");
 	PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
@@ -125,7 +125,7 @@ $ sf0x stop
 
 } // namespace
 
-extern "C" __EXPORT int sf0x_main(int argc, char *argv[])
+extern "C" __EXPORT int lightware_laser_serial_main(int argc, char *argv[])
 {
 	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	const char *device_path = nullptr;
@@ -144,26 +144,26 @@ extern "C" __EXPORT int sf0x_main(int argc, char *argv[])
 			break;
 
 		default:
-			sf0x::usage();
+			lightware_laser::usage();
 			return -1;
 		}
 	}
 
 	if (myoptind >= argc) {
-		sf0x::usage();
+		lightware_laser::usage();
 		return -1;
 	}
 
 	if (!strcmp(argv[myoptind], "start")) {
-		return sf0x::start(device_path, rotation);
+		return lightware_laser::start(device_path, rotation);
 
 	} else if (!strcmp(argv[myoptind], "stop")) {
-		return sf0x::stop();
+		return lightware_laser::stop();
 
 	} else if (!strcmp(argv[myoptind], "status")) {
-		return sf0x::status();
+		return lightware_laser::status();
 	}
 
-	sf0x::usage();
+	lightware_laser::usage();
 	return -1;
 }

src/drivers/distance_sensor/lightware_laser_serial/module.yaml

@@ -0,0 +1,7 @@
+module_name: Lightware Laser Rangefinder (serial)
+serial_config:
+    - command: lightware_laser_serial start -d ${SERIAL_DEV}
+      port_config_param:
+        name: SENS_SF0X_CFG
+        group: Sensors
+

src/drivers/distance_sensor/lightware_laser_serial/parameters.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * Lightware Laser Rangefinder hardware model
+ * Lightware Laser Rangefinder hardware model (serial)
  *
  * @reboot_required true
  * @group Sensors

src/drivers/distance_sensor/lightware_laser_serial/parser.cpp

@@ -32,19 +32,19 @@
  ****************************************************************************/
 
 /**
- * @file sf0x_parser.cpp
+ * @file parser.cpp
  * @author Lorenz Meier <lm@inf.ethz.ch>
  *
- * Driver for the Lightware SF0x laser rangefinder series
+ * Driver for the Lightware laser rangefinder series
  */
 
-#include "sf0x_parser.h"
+#include "parser.h"
 #include <string.h>
 #include <stdlib.h>
 
-//#define SF0X_DEBUG
+//#define LW_DEBUG
 
-#ifdef SF0X_DEBUG
+#ifdef LW_DEBUG
 #include <stdio.h>
 
 const char *parser_state[] = {
@@ -58,98 +58,98 @@ const char *parser_state[] = {
 };
 #endif
 
-int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist)
+int lightware_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum LW_PARSE_STATE *state, float *dist)
 {
 	int ret = -1;
 	char *end;
 
 	switch (*state) {
-	case SF0X_PARSE_STATE0_UNSYNC:
+	case LW_PARSE_STATE0_UNSYNC:
 		if (c == '\n') {
-			*state = SF0X_PARSE_STATE1_SYNC;
+			*state = LW_PARSE_STATE1_SYNC;
 			(*parserbuf_index) = 0;
 		}
 
 		break;
 
-	case SF0X_PARSE_STATE1_SYNC:
+	case LW_PARSE_STATE1_SYNC:
 		if (c >= '0' && c <= '9') {
-			*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
+			*state = LW_PARSE_STATE2_GOT_DIGIT0;
 			parserbuf[*parserbuf_index] = c;
 			(*parserbuf_index)++;
 		}
 
 		break;
 
-	case SF0X_PARSE_STATE2_GOT_DIGIT0:
+	case LW_PARSE_STATE2_GOT_DIGIT0:
 		if (c >= '0' && c <= '9') {
-			*state = SF0X_PARSE_STATE2_GOT_DIGIT0;
+			*state = LW_PARSE_STATE2_GOT_DIGIT0;
 			parserbuf[*parserbuf_index] = c;
 			(*parserbuf_index)++;
 
 		} else if (c == '.') {
-			*state = SF0X_PARSE_STATE3_GOT_DOT;
+			*state = LW_PARSE_STATE3_GOT_DOT;
 			parserbuf[*parserbuf_index] = c;
 			(*parserbuf_index)++;
 
 		} else {
-			*state = SF0X_PARSE_STATE0_UNSYNC;
+			*state = LW_PARSE_STATE0_UNSYNC;
 		}
 
 		break;
 
-	case SF0X_PARSE_STATE3_GOT_DOT:
+	case LW_PARSE_STATE3_GOT_DOT:
 		if (c >= '0' && c <= '9') {
-			*state = SF0X_PARSE_STATE4_GOT_DIGIT1;
+			*state = LW_PARSE_STATE4_GOT_DIGIT1;
 			parserbuf[*parserbuf_index] = c;
 			(*parserbuf_index)++;
 
 		} else {
-			*state = SF0X_PARSE_STATE0_UNSYNC;
+			*state = LW_PARSE_STATE0_UNSYNC;
 		}
 
 		break;
 
-	case SF0X_PARSE_STATE4_GOT_DIGIT1:
+	case LW_PARSE_STATE4_GOT_DIGIT1:
 		if (c >= '0' && c <= '9') {
-			*state = SF0X_PARSE_STATE5_GOT_DIGIT2;
+			*state = LW_PARSE_STATE5_GOT_DIGIT2;
 			parserbuf[*parserbuf_index] = c;
 			(*parserbuf_index)++;
 
 		} else {
-			*state = SF0X_PARSE_STATE0_UNSYNC;
+			*state = LW_PARSE_STATE0_UNSYNC;
 		}
 
 		break;
 
-	case SF0X_PARSE_STATE5_GOT_DIGIT2:
+	case LW_PARSE_STATE5_GOT_DIGIT2:
 		if (c == '\r') {
-			*state = SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN;
+			*state = LW_PARSE_STATE6_GOT_CARRIAGE_RETURN;
 
 		} else {
-			*state = SF0X_PARSE_STATE0_UNSYNC;
+			*state = LW_PARSE_STATE0_UNSYNC;
 		}
 
 		break;
 
-	case SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN:
+	case LW_PARSE_STATE6_GOT_CARRIAGE_RETURN:
 		if (c == '\n') {
 			parserbuf[*parserbuf_index] = '\0';
 			*dist = strtod(parserbuf, &end);
-			*state = SF0X_PARSE_STATE1_SYNC;
+			*state = LW_PARSE_STATE1_SYNC;
 			*parserbuf_index = 0;
 			ret = 0;
 
 		} else {
-			*state = SF0X_PARSE_STATE0_UNSYNC;
+			*state = LW_PARSE_STATE0_UNSYNC;
 		}
 
 		break;
 	}
 
-#ifdef SF0X_DEBUG
+#ifdef LW_DEBUG
-	printf("state: SF0X_PARSE_STATE%s\n", parser_state[*state]);
+	printf("state: LW_PARSE_STATE%s\n", parser_state[*state]);
 #endif
 
 	return ret;
-}
+}

src/drivers/distance_sensor/lightware_laser_serial/parser.h

@@ -32,22 +32,22 @@
  ****************************************************************************/
 
 /**
- * @file sf0x_parser.cpp
+ * @file parser.cpp
  * @author Lorenz Meier <lm@inf.ethz.ch>
  *
- * Declarations of parser for the Lightware SF0x laser rangefinder series
+ * Declarations of parser for the Lightware laser rangefinder series
  */
 
 #pragma once
 
-enum SF0X_PARSE_STATE {
+enum LW_PARSE_STATE {
-	SF0X_PARSE_STATE0_UNSYNC = 0,
+	LW_PARSE_STATE0_UNSYNC = 0,
-	SF0X_PARSE_STATE1_SYNC,
+	LW_PARSE_STATE1_SYNC,
-	SF0X_PARSE_STATE2_GOT_DIGIT0,
+	LW_PARSE_STATE2_GOT_DIGIT0,
-	SF0X_PARSE_STATE3_GOT_DOT,
+	LW_PARSE_STATE3_GOT_DOT,
-	SF0X_PARSE_STATE4_GOT_DIGIT1,
+	LW_PARSE_STATE4_GOT_DIGIT1,
-	SF0X_PARSE_STATE5_GOT_DIGIT2,
+	LW_PARSE_STATE5_GOT_DIGIT2,
-	SF0X_PARSE_STATE6_GOT_CARRIAGE_RETURN
+	LW_PARSE_STATE6_GOT_CARRIAGE_RETURN
 };
 
-int sf0x_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum SF0X_PARSE_STATE *state, float *dist);
+int lightware_parser(char c, char *parserbuf, unsigned *parserbuf_index, enum LW_PARSE_STATE *state, float *dist);

src/drivers/distance_sensor/lightware_laser_serial/tests/CMakeLists.txt

@@ -31,11 +31,11 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE drivers__sf0x__sf0x_tests
+	MODULE drivers__distance_sensor__lightware_laser_serial__tests
-	MAIN sf0x_tests
+	MAIN lightware_laser_test
 	COMPILE_FLAGS
 	SRCS
-		SF0XTest.cpp
+		lightware_laser_test.cpp
-		../sf0x_parser.cpp
+		../parser.cpp
 	DEPENDS
 	)

src/drivers/distance_sensor/lightware_laser_serial/tests/lightware_laser_test.cpp

@@ -1,6 +1,6 @@
 #include <unit_test.h>
 
-#include "../sf0x_parser.h"
+#include "../parser.h"
 
 #include <systemlib/err.h>
 
@@ -8,25 +8,25 @@
 #include <cstring>
 #include <unistd.h>
 
-extern "C" __EXPORT int sf0x_tests_main(int argc, char *argv[]);
+extern "C" __EXPORT int lightware_laser_test_main(int argc, char *argv[]);
 
-class SF0XTest : public UnitTest
+class LightwareLaserTest : public UnitTest
 {
 public:
 	virtual bool run_tests();
 
 private:
-	bool sf0xTest();
+	bool runTest();
 };
 
-bool SF0XTest::run_tests()
+bool LightwareLaserTest::run_tests()
 {
-	ut_run_test(sf0xTest);
+	ut_run_test(runTest);
 
 	return (_tests_failed == 0);
 }
 
-bool SF0XTest::sf0xTest()
+bool LightwareLaserTest::runTest()
 {
 	const char _LINE_MAX = 20;
 	//char _linebuf[_LINE_MAX];
@@ -50,7 +50,7 @@ bool SF0XTest::sf0xTest()
 			       "\r\n"
 			      };
 
-	enum SF0X_PARSE_STATE state = SF0X_PARSE_STATE0_UNSYNC;
+	enum LW_PARSE_STATE state = LW_PARSE_STATE0_UNSYNC;
 	float dist_m;
 	char _parserbuf[_LINE_MAX];
 	unsigned _parsebuf_index = 0;
@@ -61,7 +61,7 @@ bool SF0XTest::sf0xTest()
 		int parse_ret = -1;
 
 		for (int i = 0; i < (ssize_t)strlen(lines[l]); i++) {
-			parse_ret = sf0x_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
+			parse_ret = lightware_parser(lines[l][i], _parserbuf, &_parsebuf_index, &state, &dist_m);
 
 			if (parse_ret == 0) {
 				if (l == 0) {
@@ -88,4 +88,4 @@ bool SF0XTest::sf0xTest()
 	return true;
 }
 
-ut_declare_test_c(sf0x_tests_main, SF0XTest)
+ut_declare_test_c(lightware_laser_test_main, LightwareLaserTest)

src/drivers/distance_sensor/sf0x/module.yaml

@@ -1,7 +0,0 @@
-module_name: Lightware Laser Rangefinder
-serial_config:
-    - command: sf0x start -d ${SERIAL_DEV}
-      port_config_param:
-        name: SENS_SF0X_CFG
-        group: Sensors
-

src/systemcmds/tests/tests_main.c

@@ -125,7 +125,7 @@ const struct {
 	{"controllib",		controllib_test_main,	0},
 	{"mavlink",		mavlink_tests_main,	0},
 #ifdef __PX4_NUTTX
-	{"sf0x",		sf0x_tests_main,	0},
+	{"lightware_laser",	lightware_laser_test_main,	0},
 #endif
 	{"uorb",		uorb_tests_main,	0},
 

src/systemcmds/tests/tests_main.h

@@ -95,7 +95,7 @@ extern int mavlink_tests_main(int argc, char *argv[]);
 extern int controllib_test_main(int argc, char *argv[]);
 extern int uorb_tests_main(int argc, char *argv[]);
 extern int rc_tests_main(int argc, char *argv[]);
-extern int sf0x_tests_main(int argc, char *argv[]);
+extern int lightware_laser_test_main(int argc, char *argv[]);
 
 __END_DECLS