GCS_MAVLink: remove individual static members for fence, mission and rally

libraries/GCS_MAVLink/GCS.cpp

@@ -36,17 +36,7 @@ void GCS::get_sensor_status_flags(uint32_t &present,
     health = control_sensors_health;
 }
 
-MissionItemProtocol_Waypoints *GCS::_missionitemprotocol_waypoints;
+MissionItemProtocol *GCS::missionitemprotocols[3];
-MissionItemProtocol_Rally *GCS::_missionitemprotocol_rally;
-#if AP_FENCE_ENABLED
-MissionItemProtocol_Fence *GCS::_missionitemprotocol_fence;
-#endif
-
-const MAV_MISSION_TYPE GCS_MAVLINK::supported_mission_types[] = {
-    MAV_MISSION_TYPE_MISSION,
-    MAV_MISSION_TYPE_RALLY,
-    MAV_MISSION_TYPE_FENCE,
-};
 
 void GCS::init()
 {

libraries/GCS_MAVLink/GCS.h

@@ -180,8 +180,6 @@ public:
                                      mission_type);
     }
 
-    static const MAV_MISSION_TYPE supported_mission_types[3];
-
     // packetReceived is called on any successful decode of a mavlink message
     virtual void packetReceived(const mavlink_status_t &status,
                                 const mavlink_message_t &msg);
@@ -1074,11 +1072,12 @@ public:
                               ap_var_type param_type,
                               float param_value);
 
-    static class MissionItemProtocol_Waypoints *_missionitemprotocol_waypoints;
+    // an array of objects used to handle each of the different
-    static class MissionItemProtocol_Rally *_missionitemprotocol_rally;
+    // protocol types we support.  This is indexed by the enumeration
-#if AP_FENCE_ENABLED
+    // MAV_MISSION_TYPE, taking advantage of the fact that fence,
-    static class MissionItemProtocol_Fence *_missionitemprotocol_fence;
+    // mission and rally have values 0, 1 and 2.  Indexing should be via
-#endif
+    // get_prot_for_mission_type to do bounds checking.
+    static class MissionItemProtocol *missionitemprotocols[3];
     class MissionItemProtocol *get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const;
     void try_send_queued_message_for_type(MAV_MISSION_TYPE type) const;
 

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -556,20 +556,10 @@ void GCS_MAVLINK::send_ahrs2()
 
 MissionItemProtocol *GCS::get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const
 {
-    switch (mission_type) {
+    if (mission_type >= ARRAY_SIZE(missionitemprotocols)) {
-    case MAV_MISSION_TYPE_MISSION:
-        return _missionitemprotocol_waypoints;
-#if HAL_RALLY_ENABLED
-    case MAV_MISSION_TYPE_RALLY:
-        return _missionitemprotocol_rally;
-#endif
-#if AP_FENCE_ENABLED
-    case MAV_MISSION_TYPE_FENCE:
-        return _missionitemprotocol_fence;
-#endif
-    default:
         return nullptr;
     }
+    return missionitemprotocols[mission_type];
 }
 
 // handle a request for the number of items we have stored for a mission type:
@@ -698,8 +688,7 @@ void GCS_MAVLINK::handle_mission_clear_all(const mavlink_message_t &msg) const
 
 bool GCS_MAVLINK::requesting_mission_items() const
 {
-    for (uint8_t i=0; i<ARRAY_SIZE(supported_mission_types); i++) {
+    for (const auto *prot : gcs().missionitemprotocols) {
-        MissionItemProtocol *prot = gcs().get_prot_for_mission_type(supported_mission_types[i]);
         if (prot && prot->receiving && prot->active_link_is(this)) {
             return true;
         }
@@ -2201,41 +2190,37 @@ void GCS::send_message(enum ap_message id)
 void GCS::update_send()
 {
     update_send_has_been_called = true;
-#if !defined(HAL_BUILD_AP_PERIPH) && AP_FENCE_ENABLED
+
     if (!initialised_missionitemprotocol_objects) {
         initialised_missionitemprotocol_objects = true;
         // once-only initialisation of MissionItemProtocol objects:
+#if AP_MISSION_ENABLED
         AP_Mission *mission = AP::mission();
         if (mission != nullptr) {
-            _missionitemprotocol_waypoints = new MissionItemProtocol_Waypoints(*mission);
+            missionitemprotocols[MAV_MISSION_TYPE_MISSION] = new MissionItemProtocol_Waypoints(*mission);
         }
+#endif
 #if HAL_RALLY_ENABLED
         AP_Rally *rally = AP::rally();
         if (rally != nullptr) {
-            _missionitemprotocol_rally = new MissionItemProtocol_Rally(*rally);
+            missionitemprotocols[MAV_MISSION_TYPE_RALLY] = new MissionItemProtocol_Rally(*rally);
         }
 #endif
 #if AP_FENCE_ENABLED
         AC_Fence *fence = AP::fence();
         if (fence != nullptr) {
-            _missionitemprotocol_fence = new MissionItemProtocol_Fence(*fence);
+            missionitemprotocols[MAV_MISSION_TYPE_FENCE] = new MissionItemProtocol_Fence(*fence);
-        }
         }
 #endif
-    if (_missionitemprotocol_waypoints != nullptr) {
-        _missionitemprotocol_waypoints->update();
     }
-#if HAL_RALLY_ENABLED
+
-    if (_missionitemprotocol_rally != nullptr) {
+    for (auto *prot : missionitemprotocols) {
-        _missionitemprotocol_rally->update();
+        if (prot == nullptr) {
+            continue;
         }
-#endif
+        prot->update();
-#if AP_FENCE_ENABLED
-    if (_missionitemprotocol_fence != nullptr) {
-        _missionitemprotocol_fence->update();
     }
-#endif
+
-#endif // HAL_BUILD_AP_PERIPH
     // round-robin the GCS_MAVLINK backend that gets to go first so
     // one backend doesn't monopolise all of the time allowed for sending
     // messages