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AP_Terrain: use Rally singleton

This commit is contained in:
Peter Barker 2019-01-08 22:42:29 +11:00 committed by Andrew Tridgell
parent 6bb11b5cc8
commit 2207f52c8e
3 changed files with 11 additions and 11 deletions
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3
libraries/AP_Terrain/AP_Terrain.cpp
View File

@ -56,9 +56,8 @@ const AP_Param::GroupInfo AP_Terrain::var_info[] = {
};
// constructor
AP_Terrain::AP_Terrain(const AP_Mission &_mission, const AP_Rally &_rally) :
AP_Terrain::AP_Terrain(const AP_Mission &_mission) :
mission(_mission),
rally(_rally),
disk_io_state(DiskIoIdle),
fd(-1)
{

7
libraries/AP_Terrain/AP_Terrain.h
View File

@ -29,7 +29,6 @@
#include <AP_Param/AP_Param.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_Rally/AP_Rally.h>
#define TERRAIN_DEBUG 0
@ -76,7 +75,7 @@
class AP_Terrain {
public:
AP_Terrain(const AP_Mission &_mission, const AP_Rally &_rally);
AP_Terrain(const AP_Mission &_mission);
/* Do not allow copies */
AP_Terrain(const AP_Terrain &other) = delete;
@ -340,10 +339,6 @@ private:
// all waypoints
const AP_Mission &mission;
// reference to AP_Rally, so we can ask preload terrain data for
// all rally points
const AP_Rally &rally;
// cache of grids in memory, LRU
uint8_t cache_size = 0;
struct grid_cache *cache = nullptr;

12
libraries/AP_Terrain/TerrainMission.cpp
View File

@ -19,6 +19,7 @@
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AP_Rally/AP_Rally.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h>
#include "AP_Terrain.h"
@ -110,11 +111,16 @@ void AP_Terrain::update_mission_data(void)
*/
void AP_Terrain::update_rally_data(void)
{
if (last_rally_change_ms != rally.last_change_time_ms() ||
const AP_Rally *rally = AP::rally();
if (rally == nullptr) {
return;
}
if (last_rally_change_ms != rally->last_change_time_ms() ||
last_rally_spacing != grid_spacing) {
// a rally point has changed - start again
next_rally_index = 1;
last_rally_change_ms = rally.last_change_time_ms();
last_rally_change_ms = rally->last_change_time_ms();
last_rally_spacing = grid_spacing;
}
if (next_rally_index == 0) {
@ -132,7 +138,7 @@ void AP_Terrain::update_rally_data(void)
while (true) {
// get next rally point
struct RallyLocation rp;
if (!rally.get_rally_point_with_index(next_rally_index, rp)) {
if (!rally->get_rally_point_with_index(next_rally_index, rp)) {
// nothing more to do
next_rally_index = 0;
return;