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AP_Terrain: use Rally singleton

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

7
libraries/AP_Terrain/AP_Terrain.h
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@ -29,7 +29,6 @@
#include <AP_Param/AP_Param.h> #include <AP_Param/AP_Param.h>
#include <AP_AHRS/AP_AHRS.h> #include <AP_AHRS/AP_AHRS.h>
#include <AP_Mission/AP_Mission.h> #include <AP_Mission/AP_Mission.h>
#include <AP_Rally/AP_Rally.h>
#define TERRAIN_DEBUG 0 #define TERRAIN_DEBUG 0
@ -76,7 +75,7 @@
class AP_Terrain { class AP_Terrain {
public: public:
AP_Terrain(const AP_Mission &_mission, const AP_Rally &_rally); AP_Terrain(const AP_Mission &_mission);
/* Do not allow copies */ /* Do not allow copies */
AP_Terrain(const AP_Terrain &other) = delete; AP_Terrain(const AP_Terrain &other) = delete;
@ -340,10 +339,6 @@ private:
// all waypoints // all waypoints
const AP_Mission &mission; 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 // cache of grids in memory, LRU
uint8_t cache_size = 0; uint8_t cache_size = 0;
struct grid_cache *cache = nullptr; 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_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_Rally/AP_Rally.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include "AP_Terrain.h" #include "AP_Terrain.h"
@ -110,11 +111,16 @@ void AP_Terrain::update_mission_data(void)
*/ */
void AP_Terrain::update_rally_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) { last_rally_spacing != grid_spacing) {
// a rally point has changed - start again // a rally point has changed - start again
next_rally_index = 1; 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; last_rally_spacing = grid_spacing;
} }
if (next_rally_index == 0) { if (next_rally_index == 0) {
@ -132,7 +138,7 @@ void AP_Terrain::update_rally_data(void)
while (true) { while (true) {
// get next rally point // get next rally point
struct RallyLocation rp; 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 // nothing more to do
next_rally_index = 0; next_rally_index = 0;
return; return;