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AP_GPS: Singleton

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This commit is contained in:
Michael du Breuil 2017-10-24 18:30:10 -07:00 committed by Francisco Ferreira
parent c856cc6f33
commit 236e74c529
2 changed files with 13 additions and 0 deletions
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7
libraries/AP_GPS/AP_GPS.cpp
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@ -61,6 +61,8 @@ const uint32_t AP_GPS::_baudrates[] = {4800U, 19200U, 38400U, 115200U, 57600U, 9
// right mode
const char AP_GPS::_initialisation_blob[] = UBLOX_SET_BINARY MTK_SET_BINARY SIRF_SET_BINARY;
AP_GPS *AP_GPS::_singleton;
// table of user settable parameters
const AP_Param::GroupInfo AP_GPS::var_info[] = {
// @Param: TYPE
@ -267,6 +269,11 @@ AP_GPS::AP_GPS()
"GPS initilisation blob is to large to be completely sent before the baud rate changes");
AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_GPS must be singleton");
}
_singleton = this;
}
/// Startup initialisation.

6
libraries/AP_GPS/AP_GPS.h
View File

@ -72,6 +72,10 @@ public:
AP_GPS(const AP_GPS &other) = delete;
AP_GPS &operator=(const AP_GPS&) = delete;
static AP_GPS &gps() {
return *_singleton;
}
// GPS driver types
enum GPS_Type {
GPS_TYPE_NONE = 0,
@ -443,6 +447,8 @@ protected:
private:
AP_GPS();
static AP_GPS *_singleton;
// returns the desired gps update rate in milliseconds
// this does not provide any guarantee that the GPS is updating at the requested
// rate it is simply a helper for use in the backends for determining what rate