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AP_HAL_SITL: add and use HAL_SITL &hal_sitl

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analogous to our normal "extern hal" stuff but removes need for casting
This commit is contained in:
Peter Barker 2021-10-05 17:29:45 +11:00 committed by Peter Barker
parent dd49d79798
commit 402669f269
3 changed files with 10 additions and 8 deletions
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2
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
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@ -31,6 +31,8 @@
using namespace HALSITL; using namespace HALSITL;
HAL_SITL& hal_sitl = (HAL_SITL&)AP_HAL::get_HAL();
static Storage sitlStorage; static Storage sitlStorage;
static SITL_State sitlState; static SITL_State sitlState;
static Scheduler sitlScheduler(&sitlState); static Scheduler sitlScheduler(&sitlState);

6
libraries/AP_HAL_SITL/SITL_cmdline.cpp
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@ -44,7 +44,7 @@
#include <time.h> #include <time.h>
#include <sys/time.h> #include <sys/time.h>
extern const AP_HAL::HAL& hal; extern HAL_SITL& hal;
using namespace HALSITL; using namespace HALSITL;
using namespace SITL; 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; AP::sitl()->start_time_UTC = start_time_UTC;
} }
((HAL_SITL&)hal).set_storage_posix_enabled(storage_posix_enabled); hal.set_storage_posix_enabled(storage_posix_enabled);
((HAL_SITL&)hal).set_storage_flash_enabled(storage_flash_enabled); hal.set_storage_flash_enabled(storage_flash_enabled);
if (erase_all_storage) { if (erase_all_storage) {
AP_Param::erase_all(); AP_Param::erase_all();

10
libraries/AP_HAL_SITL/Storage.cpp
View File

@ -23,7 +23,7 @@
using namespace HALSITL; using namespace HALSITL;
extern const AP_HAL::HAL& hal; extern HAL_SITL& hal;
/* /*
emulate flash sector sizes emulate flash sector sizes
@ -56,7 +56,7 @@ void Storage::_storage_open(void)
_dirty_mask.clearall(); _dirty_mask.clearall();
#if STORAGE_USE_FLASH #if STORAGE_USE_FLASH
if (((HAL_SITL&)hal).get_storage_flash_enabled()) { if (hal.get_storage_flash_enabled()) {
// load from storage backend // load from storage backend
_flash_load(); _flash_load();
_initialisedType = StorageBackend::Flash; _initialisedType = StorageBackend::Flash;
@ -65,7 +65,7 @@ void Storage::_storage_open(void)
#endif // STORAGE_USE_FLASH #endif // STORAGE_USE_FLASH
#if STORAGE_USE_POSIX #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 // if we have failed filesystem init don't try again (this is
// initialised to zero in the constructor) // initialised to zero in the constructor)
if (log_fd == -1) { if (log_fd == -1) {
@ -168,7 +168,7 @@ void Storage::_timer_tick(void)
} }
#if STORAGE_USE_POSIX #if STORAGE_USE_POSIX
if (((HAL_SITL&)hal).get_storage_posix_enabled()) { if (hal.get_storage_posix_enabled()) {
if (log_fd != -1) { if (log_fd != -1) {
const off_t offset = STORAGE_LINE_SIZE*i; const off_t offset = STORAGE_LINE_SIZE*i;
if (lseek(log_fd, offset, SEEK_SET) != offset) { if (lseek(log_fd, offset, SEEK_SET) != offset) {
@ -184,7 +184,7 @@ void Storage::_timer_tick(void)
#endif #endif
#if STORAGE_USE_FLASH #if STORAGE_USE_FLASH
if (((HAL_SITL&)hal).get_storage_flash_enabled()) { if (hal.get_storage_flash_enabled()) {
// save to storage backend // save to storage backend
_flash_write(i); _flash_write(i);
return; return;