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DataFlash: use AP_Mission singleton

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This commit is contained in:
Peter Barker 2018-12-13 12:36:18 +11:00 committed by Randy Mackay
parent 9b561c76e2
commit 590eb86a45
7 changed files with 6 additions and 30 deletions
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18
libraries/DataFlash/DFMessageWriter.cpp
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@ -134,12 +134,6 @@ void DFMessageWriter_WriteSysInfo::reset()
stage = ws_blockwriter_stage_init;
}
void DFMessageWriter_DFLogStart::set_mission(const AP_Mission *mission)
{
_writeentiremission.set_mission(mission);
}
void DFMessageWriter_WriteSysInfo::process() {
const AP_FWVersion &fwver = AP::fwversion();
@ -188,6 +182,12 @@ void DFMessageWriter_WriteSysInfo::process() {
}
void DFMessageWriter_WriteEntireMission::process() {
const AP_Mission *_mission = AP::mission();
if (_mission == nullptr) {
_finished = true;
return;
}
switch(stage) {
case em_blockwriter_stage_init:
@ -234,9 +234,3 @@ void DFMessageWriter_WriteEntireMission::reset()
stage = em_blockwriter_stage_init;
_mission_number_to_send = 0;
}
void DFMessageWriter_WriteEntireMission::set_mission(const AP_Mission *mission)
{
_mission = mission;
}

5
libraries/DataFlash/DFMessageWriter.h
View File

@ -43,8 +43,6 @@ public:
void reset() override;
void process() override;
void set_mission(const AP_Mission *mission);
private:
enum entire_mission_blockwriter_stage {
em_blockwriter_stage_init,
@ -53,7 +51,6 @@ private:
em_blockwriter_stage_done
};
const AP_Mission *_mission = nullptr;
uint16_t _mission_number_to_send = 0;
entire_mission_blockwriter_stage stage = em_blockwriter_stage_init;
};
@ -76,8 +73,6 @@ public:
void process() override;
bool fmt_done() { return _fmt_done; }
void set_mission(const AP_Mission *mission);
private:
enum log_start_blockwriter_stage {

4
libraries/DataFlash/DataFlash.cpp
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@ -514,10 +514,6 @@ void DataFlash_Class::set_vehicle_armed(const bool armed_state)
}
void DataFlash_Class::set_mission(const AP_Mission *mission) {
FOR_EACH_BACKEND(set_mission(mission));
}
// start functions pass straight through to backend:
void DataFlash_Class::WriteBlock(const void *pBuffer, uint16_t size) {
FOR_EACH_BACKEND(WriteBlock(pBuffer, size));

2
libraries/DataFlash/DataFlash.h
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@ -63,8 +63,6 @@ public:
return _instance;
}
void set_mission(const AP_Mission *mission);
// initialisation
void Init(const struct LogStructure *structure, uint8_t num_types);
void set_num_types(uint8_t num_types) { _num_types = num_types; }

4
libraries/DataFlash/DataFlash_Backend.cpp
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@ -83,10 +83,6 @@ void DataFlash_Backend::internal_error() {
#endif
}
void DataFlash_Backend::set_mission(const AP_Mission *mission) {
_startup_messagewriter->set_mission(mission);
}
// this method can be overridden to do extra things with your buffer.
// for example, in DataFlash_MAVLink we may push messages into the UART.
void DataFlash_Backend::push_log_blocks() {

2
libraries/DataFlash/DataFlash_Backend.h
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@ -47,8 +47,6 @@ public:
virtual void Init() { }
void set_mission(const AP_Mission *mission);
virtual uint32_t bufferspace_available() = 0;
virtual void PrepForArming() { }

1
libraries/DataFlash/LogFile.cpp
View File

@ -436,7 +436,6 @@ void DataFlash_Backend::Log_Write_EntireMission(const AP_Mission &mission)
{
DFMessageWriter_WriteEntireMission writer;
writer.set_dataflash_backend(this);
writer.set_mission(&mission);
writer.process();
}