AP_Rally: Create singleton

libraries/AP_Rally/AP_Rally.cpp

@@ -52,6 +52,12 @@ AP_Rally::AP_Rally(AP_AHRS &ahrs)
     : _ahrs(ahrs)
     , _last_change_time_ms(0xFFFFFFFF)
 {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    if (_singleton != nullptr) {
+        AP_HAL::panic("Rally must be singleton");
+    }
+#endif
+    _singleton = this;
     AP_Param::setup_object_defaults(this, var_info);
 }
 
@@ -161,3 +167,15 @@ Location AP_Rally::calc_best_rally_or_home_location(const Location &current_loc,
 
     return return_loc;
 }
+
+// singleton instance
+AP_Rally *AP_Rally::_singleton;
+
+namespace AP {
+
+AP_Rally *rally()
+{
+    return AP_Rally::get_singleton();
+}
+
+}

libraries/AP_Rally/AP_Rally.h

@@ -62,7 +62,13 @@ public:
     // parameter block
     static const struct AP_Param::GroupInfo var_info[];
 
+    // get singleton instance
+    static AP_Rally *get_singleton() { return _singleton; }
+
+
 private:
+    static AP_Rally *_singleton;
+
     virtual bool is_valid(const Location &rally_point) const { return true; }
 
     static StorageAccess _storage;
@@ -77,3 +83,7 @@ private:
 
     uint32_t _last_change_time_ms;
 };
+
+namespace AP {
+    AP_Rally *rally();
+};