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AP_Rally: Create singleton

This commit is contained in:
Michael du Breuil 2018-12-24 22:17:15 -07:00 committed by Andrew Tridgell
parent c1e3e3f8c4
commit 0d369929cb
2 changed files with 28 additions and 0 deletions
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18
libraries/AP_Rally/AP_Rally.cpp
View File

@ -52,6 +52,12 @@ AP_Rally::AP_Rally(AP_AHRS &ahrs)
: _ahrs(ahrs) : _ahrs(ahrs)
, _last_change_time_ms(0xFFFFFFFF) , _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); 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; return return_loc;
} }
// singleton instance
AP_Rally *AP_Rally::_singleton;
namespace AP {
AP_Rally *rally()
{
return AP_Rally::get_singleton();
}
}

10
libraries/AP_Rally/AP_Rally.h
View File

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