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HAL_ChibiOS: remove singleton interface from slcan_router

This commit is contained in:
Siddharth Purohit 2019-07-07 11:54:05 +08:00 committed by Andrew Tridgell
parent 28288a7329
commit 2f153a3577
6 changed files with 26 additions and 29 deletions
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9
libraries/AP_HAL_ChibiOS/CANFDIface.cpp
View File

@ -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;
}

8
libraries/AP_HAL_ChibiOS/CANFDIface.h
View File

@ -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
};
/**

8
libraries/AP_HAL_ChibiOS/CANIface.h
View File

@ -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
};
/**

5
libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
View File

@ -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)
{

17
libraries/AP_HAL_ChibiOS/CANSerialRouter.h
View File

@ -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

8
libraries/AP_HAL_ChibiOS/CanIface.cpp
View File

@ -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
*/
@ -761,8 +763,8 @@ void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t ut
* Store with timeout into the FIFO buffer and signal update event
*/
rx_queue_.push(frame, utc_usec, 0);
#if !HAL_MINIMIZE_FEATURES
slcan_router().route_frame_to_slcan(this, frame, utc_usec);
#if !HAL_MINIMIZE_FEATURES
_slcan_router.route_frame_to_slcan(this, frame, utc_usec);
#endif
had_activity_ = true;
update_event_.signalFromInterrupt();