From 402669f269928515cebd267477b14fd98b1915f8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 5 Oct 2021 17:29:45 +1100
Subject: [PATCH] AP_HAL_SITL: add and use HAL_SITL &hal_sitl

analogous to our normal "extern hal" stuff but removes need for casting
---
 libraries/AP_HAL_SITL/HAL_SITL_Class.cpp |  2 ++
 libraries/AP_HAL_SITL/SITL_cmdline.cpp   |  6 +++---
 libraries/AP_HAL_SITL/Storage.cpp        | 10 +++++-----
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
index 0016036501..56455f23cb 100644
--- a/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
+++ b/libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
@@ -31,6 +31,8 @@
 
 using namespace HALSITL;
 
+HAL_SITL& hal_sitl = (HAL_SITL&)AP_HAL::get_HAL();
+
 static Storage sitlStorage;
 static SITL_State sitlState;
 static Scheduler sitlScheduler(&sitlState);
diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index 7ae0bb3846..6b7a778dec 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -44,7 +44,7 @@
 #include <time.h>
 #include <sys/time.h>
 
-extern const AP_HAL::HAL& hal;
+extern HAL_SITL& hal;
 
 using namespace HALSITL;
 using namespace SITL;
@@ -556,8 +556,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         AP::sitl()->start_time_UTC = start_time_UTC;
     }
 
-    ((HAL_SITL&)hal).set_storage_posix_enabled(storage_posix_enabled);
-    ((HAL_SITL&)hal).set_storage_flash_enabled(storage_flash_enabled);
+    hal.set_storage_posix_enabled(storage_posix_enabled);
+    hal.set_storage_flash_enabled(storage_flash_enabled);
 
     if (erase_all_storage) {
         AP_Param::erase_all();
diff --git a/libraries/AP_HAL_SITL/Storage.cpp b/libraries/AP_HAL_SITL/Storage.cpp
index 9e468e2ecd..3e9762f1c5 100644
--- a/libraries/AP_HAL_SITL/Storage.cpp
+++ b/libraries/AP_HAL_SITL/Storage.cpp
@@ -23,7 +23,7 @@
 
 using namespace HALSITL;
 
-extern const AP_HAL::HAL& hal;
+extern HAL_SITL& hal;
 
 /*
   emulate flash sector sizes
@@ -56,7 +56,7 @@ void Storage::_storage_open(void)
     _dirty_mask.clearall();
 
 #if STORAGE_USE_FLASH
-    if (((HAL_SITL&)hal).get_storage_flash_enabled()) {
+    if (hal.get_storage_flash_enabled()) {
         // load from storage backend
         _flash_load();
         _initialisedType = StorageBackend::Flash;
@@ -65,7 +65,7 @@ void Storage::_storage_open(void)
 #endif // STORAGE_USE_FLASH
 
 #if STORAGE_USE_POSIX
-    if (((HAL_SITL&)hal).get_storage_posix_enabled()) {
+    if (hal.get_storage_posix_enabled()) {
         // if we have failed filesystem init don't try again (this is
         // initialised to zero in the constructor)
         if (log_fd == -1) {
@@ -168,7 +168,7 @@ void Storage::_timer_tick(void)
     }
 
 #if STORAGE_USE_POSIX
-    if (((HAL_SITL&)hal).get_storage_posix_enabled()) {
+    if (hal.get_storage_posix_enabled()) {
         if (log_fd != -1) {
             const off_t offset = STORAGE_LINE_SIZE*i;
             if (lseek(log_fd, offset, SEEK_SET) != offset) {
@@ -184,7 +184,7 @@ void Storage::_timer_tick(void)
 #endif
 
 #if STORAGE_USE_FLASH
-    if (((HAL_SITL&)hal).get_storage_flash_enabled()) {
+    if (hal.get_storage_flash_enabled()) {
         // save to storage backend
         _flash_write(i);
         return;