From 590eb86a45c8752abb7e974ac652a246bf8d903e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 13 Dec 2018 12:36:18 +1100
Subject: [PATCH] DataFlash: use AP_Mission singleton

---
 libraries/DataFlash/DFMessageWriter.cpp   | 18 ++++++------------
 libraries/DataFlash/DFMessageWriter.h     |  5 -----
 libraries/DataFlash/DataFlash.cpp         |  4 ----
 libraries/DataFlash/DataFlash.h           |  2 --
 libraries/DataFlash/DataFlash_Backend.cpp |  4 ----
 libraries/DataFlash/DataFlash_Backend.h   |  2 --
 libraries/DataFlash/LogFile.cpp           |  1 -
 7 files changed, 6 insertions(+), 30 deletions(-)

diff --git a/libraries/DataFlash/DFMessageWriter.cpp b/libraries/DataFlash/DFMessageWriter.cpp
index 95aeca36b3..a3e045a748 100644
--- a/libraries/DataFlash/DFMessageWriter.cpp
+++ b/libraries/DataFlash/DFMessageWriter.cpp
@@ -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;
-}
diff --git a/libraries/DataFlash/DFMessageWriter.h b/libraries/DataFlash/DFMessageWriter.h
index 486cf0872c..490a5508e7 100644
--- a/libraries/DataFlash/DFMessageWriter.h
+++ b/libraries/DataFlash/DFMessageWriter.h
@@ -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 {
diff --git a/libraries/DataFlash/DataFlash.cpp b/libraries/DataFlash/DataFlash.cpp
index 02b781ebb0..69c10d58d3 100644
--- a/libraries/DataFlash/DataFlash.cpp
+++ b/libraries/DataFlash/DataFlash.cpp
@@ -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));
diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index 18c1ba4fbe..ea007e81e7 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -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; }
diff --git a/libraries/DataFlash/DataFlash_Backend.cpp b/libraries/DataFlash/DataFlash_Backend.cpp
index 395c76140a..790e0acdde 100644
--- a/libraries/DataFlash/DataFlash_Backend.cpp
+++ b/libraries/DataFlash/DataFlash_Backend.cpp
@@ -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() {
diff --git a/libraries/DataFlash/DataFlash_Backend.h b/libraries/DataFlash/DataFlash_Backend.h
index 3eef39283c..fd30816e86 100644
--- a/libraries/DataFlash/DataFlash_Backend.h
+++ b/libraries/DataFlash/DataFlash_Backend.h
@@ -47,8 +47,6 @@ public:
 
     virtual void Init() { }
 
-    void set_mission(const AP_Mission *mission);
-
     virtual uint32_t bufferspace_available() = 0;
 
     virtual void PrepForArming() { }
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index eceda6b298..f3dcd81a3c 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -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();
 }