HAL_ChibiOS: remove singleton interface from slcan_router

libraries/AP_HAL_ChibiOS/CANFDIface.cpp

@@ -119,7 +119,9 @@ inline void handleInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t line_in
 } // namespace
 
 uint32_t CanIface::FDCANMessageRAMOffset_ = 0;
-SLCANRouter *CanIface::_slcan_router = nullptr;
+#if !HAL_MINIMIZE_FEATURES
+SLCANRouter CanIface::_slcan_router;
+#endif
 
 CanIface::CanIface(fdcan::CanType* can, BusEvent& update_event, uavcan::uint8_t self_index,
             CanRxItem* rx_queue_buffer, uavcan::uint8_t rx_queue_capacity)
@@ -133,7 +135,6 @@ CanIface::CanIface(fdcan::CanType* can, BusEvent& update_event, uavcan::uint8_t
     , had_activity_(false)
 {
     UAVCAN_ASSERT(self_index_ < UAVCAN_STM32_NUM_IFACES);
-    _slcan_router = SLCANRouter::get_singleton();
 }
 
 /*
@@ -695,9 +696,7 @@ bool CanIface::readRxFIFO(uavcan::uint8_t fifo_index)
      */
     rx_queue_.push(frame, utc_usec, 0);
 #if !HAL_MINIMIZE_FEATURES
-    if (_slcan_router != nullptr) {
+    _slcan_router.route_frame_to_slcan(this, frame, utc_usec);
-        _slcan_router->route_frame_to_slcan(this, frame, utc_usec);
-    }
 #endif
     return true;
 }

libraries/AP_HAL_ChibiOS/CANFDIface.h

@@ -85,8 +85,10 @@ struct CanRxItem {
  */
 class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
 {
+#if !HAL_MINIMIZE_FEATURES
     friend class ::SLCANRouter;
-    static SLCANRouter *_slcan_router;
+    static SLCANRouter _slcan_router;
+#endif
     class RxQueue
     {
         CanRxItem* const buf_;
@@ -276,6 +278,10 @@ public:
     {
         return can_;
     }
+
+#if !HAL_MINIMIZE_FEATURES
+    static SLCANRouter &slcan_router() { return _slcan_router; }
+#endif
 };
 
 /**

libraries/AP_HAL_ChibiOS/CANIface.h

@@ -86,7 +86,12 @@ struct CanRxItem {
  * The application shall not use this directly.
  */
 class CanIface : public uavcan::ICanIface, uavcan::Noncopyable {
+
+#if !HAL_MINIMIZE_FEATURES
     friend class ::SLCANRouter;
+    static SLCANRouter _slcan_router;
+#endif
+
     class RxQueue {
         CanRxItem* const buf_;
         const uavcan::uint8_t capacity_;
@@ -280,6 +285,9 @@ public:
     {
         return uavcan::uint8_t(peak_tx_mailbox_index_ + 1);
     }
+#if !HAL_MINIMIZE_FEATURES
+    static SLCANRouter &slcan_router() { return _slcan_router; }
+#endif
 };
 
 /**

libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp

@@ -20,14 +20,9 @@
 #if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
-SLCANRouter* SLCANRouter::_singleton = nullptr;
 
 extern const AP_HAL::HAL& hal;
 
-SLCANRouter &slcan_router()
-{
-    return *SLCANRouter::get_singleton();
-}
 
 void SLCANRouter::init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event)
 {

libraries/AP_HAL_ChibiOS/CANSerialRouter.h

@@ -42,7 +42,6 @@ class SLCANRouter {
     SLCAN::CAN _slcan_if;
     ObjectBuffer<CanRouteItem> _can_tx_queue;
     ObjectBuffer<CanRouteItem> _slcan_tx_queue;
-    static SLCANRouter* _singleton;
     ChibiOS_CAN::BusEvent* _update_event;
     uint32_t _last_active_time = 0;
     uint32_t _slcan_rt_timeout = 0;
@@ -56,26 +55,14 @@ class SLCANRouter {
 
 public:
     SLCANRouter() : _slcan_if(SLCAN_DRIVER_INDEX, SLCAN_RX_QUEUE_SIZE), _can_tx_queue(SLCAN_ROUTER_QUEUE_SIZE), _slcan_tx_queue(SLCAN_ROUTER_QUEUE_SIZE)
-    {
+    {}
-        if (_singleton  == nullptr) {
-            _singleton = this;
-        }
-    }
     void init(ChibiOS_CAN::CanIface* can_if, ChibiOS_CAN::BusEvent* update_event);
     void route_frame_to_slcan(ChibiOS_CAN::CanIface* can_if, const uavcan::CanFrame& frame, uint64_t timestamp_usec);
     void route_frame_to_can(const uavcan::CanFrame& frame, uint64_t timestamp_usec);
     void slcan2can_router_trampoline(void);
     void can2slcan_router_trampoline(void);
     void run(void);
-    static SLCANRouter* get_singleton()
+
-    {
-        if (_singleton == nullptr) {
-            _singleton = new SLCANRouter;
-        }
-        return _singleton;
-    }
 };
 
-SLCANRouter &slcan_router();
-
 #endif

libraries/AP_HAL_ChibiOS/CanIface.cpp

@@ -138,7 +138,9 @@ inline void handleRxInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t fifo_
 }
 
 } // namespace
-
+#if !HAL_MINIMIZE_FEATURES
+SLCANRouter CanIface::_slcan_router;
+#endif
 /*
  * CanIface::RxQueue
  */
@@ -762,7 +764,7 @@ void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t ut
      */
     rx_queue_.push(frame, utc_usec, 0);
 #if !HAL_MINIMIZE_FEATURES
-    slcan_router().route_frame_to_slcan(this, frame, utc_usec);
+    _slcan_router.route_frame_to_slcan(this, frame, utc_usec);
 #endif
     had_activity_ = true;
     update_event_.signalFromInterrupt();