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AP_AccelCal: make client list static

This commit is contained in:
Jonathan Challinger 2016-01-04 14:39:15 -08:00 committed by Randy Mackay
parent 5f610fdcba
commit 49ad2d26c6
2 changed files with 10 additions and 10 deletions
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8
libraries/AP_AccelCal/AP_AccelCal.cpp
View File

@ -22,6 +22,9 @@ const extern AP_HAL::HAL& hal;
static bool _start_collect_sample;
static void _snoop(const mavlink_message_t* msg);
uint8_t AP_AccelCal::_num_clients = 0;
AP_AccelCal_Client* AP_AccelCal::_clients[AP_ACCELCAL_MAX_NUM_CLIENTS] {};
void AP_AccelCal::update()
{
if (!get_calibrator(0)) {
@ -245,13 +248,10 @@ void AP_AccelCal::collect_sample()
}
void AP_AccelCal::register_client(AP_AccelCal_Client* client) {
if (client == NULL || _num_clients == AP_ACCELCAL_MAX_NUM_CLIENTS) {
if (client == NULL || _num_clients >= AP_ACCELCAL_MAX_NUM_CLIENTS) {
return;
}
if (_started) {
fail();
}
for(uint8_t i=0; i<_num_clients; i++) {
if(_clients[i] == client) {

12
libraries/AP_AccelCal/AP_AccelCal.h
View File

@ -11,7 +11,6 @@ class AP_AccelCal_Client;
class AP_AccelCal {
public:
AP_AccelCal():
_num_clients(0),
_started(false),
_saving(false)
{ update_status(); }
@ -25,18 +24,19 @@ public:
// Run an iteration of all registered calibrations
void update();
// interface to the clients for registration
void register_client(AP_AccelCal_Client* client);
// get the status of the calibrator server as a whole
accel_cal_status_t get_status() { return _status; }
// interface to the clients for registration
static void register_client(AP_AccelCal_Client* client);
private:
GCS_MAVLINK *_gcs;
uint8_t _step;
accel_cal_status_t _status;
uint8_t _num_clients;
AP_AccelCal_Client* _clients[AP_ACCELCAL_MAX_NUM_CLIENTS];
static uint8_t _num_clients;
static AP_AccelCal_Client* _clients[AP_ACCELCAL_MAX_NUM_CLIENTS];
// called on calibration success
void success();