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AP_ICEngine: add singleton and remove unnecessary variable init

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This commit is contained in:
Tom Pittenger 2019-02-19 22:24:59 -08:00 committed by Tom Pittenger
parent d27cd19daa
commit 4f41aa19bf
2 changed files with 22 additions and 2 deletions
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16
libraries/AP_ICEngine/AP_ICEngine.cpp
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@ -108,10 +108,14 @@ const AP_Param::GroupInfo AP_ICEngine::var_info[] = {
// constructor // constructor
AP_ICEngine::AP_ICEngine(const AP_RPM &_rpm) : AP_ICEngine::AP_ICEngine(const AP_RPM &_rpm) :
rpm(_rpm), rpm(_rpm)
state(ICE_OFF)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr) {
AP_HAL::panic("AP_ICEngine must be singleton");
}
_singleton = this;
} }
/* /*
@ -289,3 +293,11 @@ bool AP_ICEngine::engine_control(float start_control, float cold_start, float he
state = ICE_STARTING; state = ICE_STARTING;
return true; return true;
} }
// singleton instance. Should only ever be set in the constructor.
AP_ICEngine *AP_ICEngine::_singleton;
namespace AP {
AP_ICEngine *ice() {
return AP_ICEngine::get_singleton();
}
}

8
libraries/AP_ICEngine/AP_ICEngine.h
View File

@ -47,7 +47,11 @@ public:
// handle DO_ENGINE_CONTROL messages via MAVLink or mission // handle DO_ENGINE_CONTROL messages via MAVLink or mission
bool engine_control(float start_control, float cold_start, float height_delay); bool engine_control(float start_control, float cold_start, float height_delay);
static AP_ICEngine *get_singleton() { return _singleton; }
private: private:
static AP_ICEngine *_singleton;
const AP_RPM &rpm; const AP_RPM &rpm;
enum ICE_State state; enum ICE_State state;
@ -95,3 +99,7 @@ private:
bool height_pending:1; bool height_pending:1;
}; };
namespace AP {
AP_ICEngine *ice();
};