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 @@ class HC_SR04 : public cdev::CDev
 	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 @@ class MB12XX : public device::I2C
 	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 @@ class SRF02 : public device::I2C
 	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>

src/modules/logger/array.h → src/include/containers/Array.hpp

@@ -38,20 +38,13 @@
 namespace px4
 {
 
-template <typename TYPE, size_t N>
+template <class T, size_t N>
 class Array
 {
-	typedef TYPE &reference;
-	typedef const TYPE &const_reference;
-	typedef TYPE *iterator;
-	typedef const TYPE *const_iterator;
 
 public:
-	Array()
-		: _size(0), _overflow(false)
-	{}
 
-	bool push_back(const TYPE &x)
+	bool push_back(const T &x)
 	{
 		if (_size == N) {
 			_overflow = true;
@@ -75,86 +68,41 @@ class Array
 		}
 	}
 
-	reference operator[](size_t n)
+	void erase(T *item)
 	{
-		return _items[n];
-	}
-
-	const_reference operator[](size_t n) const
-	{
-		return _items[n];
-	}
-
-	reference at(size_t n)
-	{
-		return _items[n];
-	}
-
-	const_reference at(size_t n) const
-	{
-		return _items[n];
-	}
-
-	size_t size() const
-	{
-		return _size;
-	}
-
-	size_t max_size() const
-	{
-		return N;
-	}
-
-	size_t capacity() const
-	{
-		return N;
-	}
+		if (item - _items < static_cast<int>(_size)) {
+			--_size;
 
-	bool empty() const
-	{
-		return _size == 0;
+			for (T *it = item; it != &_items[_size]; ++it) {
+				*it = *(it + 1);
+			}
+		}
 	}
 
-	bool is_overflowed()
-	{
-		return _overflow;
-	}
+	T &operator[](size_t n) { return _items[n]; }
+	const T &operator[](size_t n) const { return _items[n]; }
 
-	iterator begin()
-	{
-		return &_items[0];
-	}
+	T &at(size_t n) { return _items[n]; }
+	const T &at(size_t n) const { return _items[n]; }
 
-	iterator end()
-	{
-		return &_items[_size];
-	}
+	size_t size() const { return _size; }
+	size_t max_size() const { return N; }
+	size_t capacity() const { return N; }
 
-	const_iterator begin() const
-	{
-		return &_items[0];
-	}
+	bool empty() const { return _size == 0; }
 
-	const_iterator end() const
-	{
-		return &_items[_size];
-	}
+	bool is_overflowed() { return _overflow; }
 
-	void erase(iterator item)
-	{
-		if (item - _items < static_cast<int>(_size)) {
-			--_size;
+	T *begin() { return &_items[0]; }
+	T *end() { return &_items[_size]; }
 
-			for (iterator it = item; it != &_items[_size]; ++it) {
-				*it = *(it + 1);
-			}
-		}
-	}
+	const T *begin() const { return &_items[0]; }
+	const T *end() const { return &_items[_size]; }
 
 private:
-	TYPE        _items[N];
-	size_t      _size;
-	bool        _overflow;
+	T        _items[N];
+	size_t      _size{0};
+	bool        _overflow{false};
 };
 
 }

src/modules/logger/logger.h

@@ -35,7 +35,7 @@
 
 #include "log_writer.h"
 #include "messages.h"
-#include "array.h"
+#include <containers/Array.hpp>
 #include "util.h"
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>