mirror of https://github.com/ArduPilot/ardupilot
AP_HAL_SITL: add and use HAL_SITL &hal_sitl
analogous to our normal "extern hal" stuff but removes need for casting
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@ -31,6 +31,8 @@
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using namespace HALSITL;
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HAL_SITL& hal_sitl = (HAL_SITL&)AP_HAL::get_HAL();
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static Storage sitlStorage;
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static SITL_State sitlState;
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static Scheduler sitlScheduler(&sitlState);
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@ -44,7 +44,7 @@
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#include <time.h>
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#include <sys/time.h>
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extern const AP_HAL::HAL& hal;
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extern HAL_SITL& hal;
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using namespace HALSITL;
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using namespace SITL;
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@ -556,8 +556,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
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AP::sitl()->start_time_UTC = start_time_UTC;
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}
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((HAL_SITL&)hal).set_storage_posix_enabled(storage_posix_enabled);
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((HAL_SITL&)hal).set_storage_flash_enabled(storage_flash_enabled);
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hal.set_storage_posix_enabled(storage_posix_enabled);
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hal.set_storage_flash_enabled(storage_flash_enabled);
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if (erase_all_storage) {
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AP_Param::erase_all();
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@ -23,7 +23,7 @@
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using namespace HALSITL;
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extern const AP_HAL::HAL& hal;
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extern HAL_SITL& hal;
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/*
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emulate flash sector sizes
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@ -56,7 +56,7 @@ void Storage::_storage_open(void)
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_dirty_mask.clearall();
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#if STORAGE_USE_FLASH
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if (((HAL_SITL&)hal).get_storage_flash_enabled()) {
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if (hal.get_storage_flash_enabled()) {
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// load from storage backend
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_flash_load();
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_initialisedType = StorageBackend::Flash;
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@ -65,7 +65,7 @@ void Storage::_storage_open(void)
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#endif // STORAGE_USE_FLASH
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#if STORAGE_USE_POSIX
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if (((HAL_SITL&)hal).get_storage_posix_enabled()) {
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if (hal.get_storage_posix_enabled()) {
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// if we have failed filesystem init don't try again (this is
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// initialised to zero in the constructor)
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if (log_fd == -1) {
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@ -168,7 +168,7 @@ void Storage::_timer_tick(void)
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}
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#if STORAGE_USE_POSIX
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if (((HAL_SITL&)hal).get_storage_posix_enabled()) {
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if (hal.get_storage_posix_enabled()) {
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if (log_fd != -1) {
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const off_t offset = STORAGE_LINE_SIZE*i;
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if (lseek(log_fd, offset, SEEK_SET) != offset) {
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@ -184,7 +184,7 @@ void Storage::_timer_tick(void)
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#endif
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#if STORAGE_USE_FLASH
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if (((HAL_SITL&)hal).get_storage_flash_enabled()) {
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if (hal.get_storage_flash_enabled()) {
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// save to storage backend
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_flash_write(i);
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return;
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