SITL: tidy creation of simulated rangefinders

ArduPilot · Jan 5, 2025 · 27662bd · 27662bd
1 parent 98a06c5
commit 27662bd
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Showing 20 changed files with 40 additions and 0 deletions.
diff --git a/libraries/SITL/SIM_RF_Ainstein_LR_D1.h b/libraries/SITL/SIM_RF_Ainstein_LR_D1.h
@@ -44,6 +44,8 @@ namespace SITL {
 class RF_Ainstein_LR_D1 : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_Ainstein_LR_D1(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
     uint16_t reading_interval_ms() const override { return 100; }

diff --git a/libraries/SITL/SIM_RF_BLping.h b/libraries/SITL/SIM_RF_BLping.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_BLping : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_BLping(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 };

diff --git a/libraries/SITL/SIM_RF_Benewake_TF02.h b/libraries/SITL/SIM_RF_Benewake_TF02.h
@@ -37,6 +37,8 @@ namespace SITL {
 class RF_Benewake_TF02 : public RF_Benewake {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_Benewake_TF02(); }
+
     // see AP_RangeFinder_Benewake.cpp for definitions
     uint8_t byte4() const override { return 1; } // strength low-bits
     uint8_t byte5() const override { return 1; } // strength high-bits

diff --git a/libraries/SITL/SIM_RF_Benewake_TF03.h b/libraries/SITL/SIM_RF_Benewake_TF03.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_Benewake_TF03 : public RF_Benewake {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_Benewake_TF03(); }
+
     // see AP_RangeFinder_Benewake.cpp for definitions
     uint8_t byte4() const override { return 0; } // reserved
     uint8_t byte5() const override { return 0; } // reserved

diff --git a/libraries/SITL/SIM_RF_Benewake_TFmini.h b/libraries/SITL/SIM_RF_Benewake_TFmini.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_Benewake_TFmini : public RF_Benewake {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_Benewake_TFmini(); }
+
     // see AP_RangeFinder_Benewake.cpp for definitions
     uint8_t byte4() const override { return 1; } // strength L
     uint8_t byte5() const override { return 1; } // strength H

diff --git a/libraries/SITL/SIM_RF_GYUS42v2.h b/libraries/SITL/SIM_RF_GYUS42v2.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_GYUS42v2 : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_GYUS42v2(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
     // TODO: work this out

diff --git a/libraries/SITL/SIM_RF_JRE.h b/libraries/SITL/SIM_RF_JRE.h
@@ -37,6 +37,8 @@ namespace SITL {
 class RF_JRE : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_JRE(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 private:

diff --git a/libraries/SITL/SIM_RF_Lanbao.h b/libraries/SITL/SIM_RF_Lanbao.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_Lanbao : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_Lanbao(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 };

diff --git a/libraries/SITL/SIM_RF_LeddarOne.h b/libraries/SITL/SIM_RF_LeddarOne.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_LeddarOne : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_LeddarOne(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 };

diff --git a/libraries/SITL/SIM_RF_LightWareSerial.h b/libraries/SITL/SIM_RF_LightWareSerial.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_LightWareSerial : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_LightWareSerial(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
     void update(float range) override;

diff --git a/libraries/SITL/SIM_RF_LightWareSerialBinary.h b/libraries/SITL/SIM_RF_LightWareSerialBinary.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_LightWareSerialBinary : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_LightWareSerialBinary(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 };

diff --git a/libraries/SITL/SIM_RF_MAVLink.h b/libraries/SITL/SIM_RF_MAVLink.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_MAVLink : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_MAVLink(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 private:

diff --git a/libraries/SITL/SIM_RF_MaxsonarSerialLV.h b/libraries/SITL/SIM_RF_MaxsonarSerialLV.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_MaxsonarSerialLV : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_MaxsonarSerialLV(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 };

diff --git a/libraries/SITL/SIM_RF_NMEA.h b/libraries/SITL/SIM_RF_NMEA.h
@@ -37,6 +37,8 @@ namespace SITL {
 class RF_NMEA : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_NMEA(); }
+
     uint32_t device_baud() const override { return 9600; }
 
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;

diff --git a/libraries/SITL/SIM_RF_NoopLoop.h b/libraries/SITL/SIM_RF_NoopLoop.h
@@ -25,6 +25,8 @@ namespace SITL {
 class RF_Nooploop : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_Nooploop(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 };

diff --git a/libraries/SITL/SIM_RF_RDS02UF.h b/libraries/SITL/SIM_RF_RDS02UF.h
@@ -37,6 +37,8 @@ namespace SITL {
 class RF_RDS02UF : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_RDS02UF(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 };

diff --git a/libraries/SITL/SIM_RF_TeraRanger_Serial.h b/libraries/SITL/SIM_RF_TeraRanger_Serial.h
@@ -31,6 +31,8 @@ namespace SITL {
 class RF_TeraRanger_Serial : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_TeraRanger_Serial(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 

diff --git a/libraries/SITL/SIM_RF_USD1_v0.h b/libraries/SITL/SIM_RF_USD1_v0.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_USD1_v0 : public RF_USD1 {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_USD1_v0(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 };

diff --git a/libraries/SITL/SIM_RF_USD1_v1.h b/libraries/SITL/SIM_RF_USD1_v1.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_USD1_v1 : public RF_USD1 {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_USD1_v1(); }
+
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
 
 };

diff --git a/libraries/SITL/SIM_RF_Wasp.h b/libraries/SITL/SIM_RF_Wasp.h
@@ -36,6 +36,8 @@ namespace SITL {
 class RF_Wasp : public SerialRangeFinder {
 public:
 
+    static SerialRangeFinder *create() { return NEW_NOTHROW RF_Wasp(); }
+
     void update(float range) override;
 
     uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
-Original file line number
+Diff line change
@@ Expand Up / @@ -36,6 +36,8 @@ namespace SITL { @@
     class RF_BLping : public SerialRangeFinder {
     public:
+        static SerialRangeFinder *create() { return NEW_NOTHROW RF_BLping(); }
         uint32_t packet_for_alt(uint16_t alt_cm, uint8_t *buffer, uint8_t buflen) override;
     };
@@ Expand Down @@