Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-30 12:38:33 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Rally: convert to using StorageManager

Browse Source
This commit is contained in:
Andrew Tridgell 2014-08-13 14:43:28 +10:00
parent f133f45c3c
commit 7cbb326405
2 changed files with 13 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_Rally/AP_Rally.cpp
View File

@ -7,6 +7,9 @@
#include <AP_HAL.h> #include <AP_HAL.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
// storage object
StorageAccess AP_Rally::_storage(StorageManager::StorageRally);
// ArduCopter/defines.h sets this, and this definition will be moved into ArduPlane/defines.h when that is patched to use the lib // ArduCopter/defines.h sets this, and this definition will be moved into ArduPlane/defines.h when that is patched to use the lib
#ifdef APM_BUILD_DIRECTORY #ifdef APM_BUILD_DIRECTORY
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
@ -41,10 +44,8 @@ const AP_Param::GroupInfo AP_Rally::var_info[] PROGMEM = {
}; };
// constructor // constructor
AP_Rally::AP_Rally(AP_AHRS &ahrs, uint16_t max_rally_points, uint16_t rally_start_byte) AP_Rally::AP_Rally(AP_AHRS &ahrs)
: _ahrs(ahrs) : _ahrs(ahrs)
, _max_rally_points(max_rally_points)
, _rally_start_byte(rally_start_byte)
, _last_change_time_ms(0xFFFFFFFF) , _last_change_time_ms(0xFFFFFFFF)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
@ -57,7 +58,7 @@ bool AP_Rally::get_rally_point_with_index(uint8_t i, RallyLocation &ret) const
return false; return false;
} }
hal.storage->read_block(&ret, _rally_start_byte + (i * sizeof(RallyLocation)), sizeof(RallyLocation)); _storage.read_block(&ret, i * sizeof(RallyLocation), sizeof(RallyLocation));
if (ret.lat == 0 && ret.lng == 0) { if (ret.lat == 0 && ret.lng == 0) {
return false; // sanity check return false; // sanity check
@ -73,11 +74,11 @@ bool AP_Rally::set_rally_point_with_index(uint8_t i, const RallyLocation &rallyL
return false; return false;
} }
if (i >= (uint8_t) _max_rally_points) { if (i >= get_rally_max()) {
return false; return false;
} }
hal.storage->write_block(_rally_start_byte + (i * sizeof(RallyLocation)), &rallyLoc, sizeof(RallyLocation)); _storage.write_block(i * sizeof(RallyLocation), &rallyLoc, sizeof(RallyLocation));
_last_change_time_ms = hal.scheduler->millis(); _last_change_time_ms = hal.scheduler->millis();

10
libraries/AP_Rally/AP_Rally.h
View File

@ -20,8 +20,9 @@
#include <AP_Common.h> #include <AP_Common.h>
#include <AP_Param.h> #include <AP_Param.h>
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <../StorageManager/StorageManager.h>
#define AC_RALLY_WP_SIZE 15 // eeprom size of rally points #define AP_RALLY_WP_SIZE 15 // eeprom size of rally points
struct PACKED RallyLocation { struct PACKED RallyLocation {
int32_t lat; //Latitude * 10^7 int32_t lat; //Latitude * 10^7
@ -39,12 +40,13 @@ struct PACKED RallyLocation {
class AP_Rally { class AP_Rally {
public: public:
AP_Rally(AP_AHRS &ahrs, uint16_t max_rally_points, uint16_t rally_start_byte); AP_Rally(AP_AHRS &ahrs);
// data handling // data handling
bool get_rally_point_with_index(uint8_t i, RallyLocation &ret) const; bool get_rally_point_with_index(uint8_t i, RallyLocation &ret) const;
bool set_rally_point_with_index(uint8_t i, const RallyLocation &rallyLoc); bool set_rally_point_with_index(uint8_t i, const RallyLocation &rallyLoc);
uint8_t get_rally_total() const { return _rally_point_total_count; } uint8_t get_rally_total() const { return _rally_point_total_count; }
uint8_t get_rally_max(void) const { return _storage.size() / AP_RALLY_WP_SIZE; }
float get_rally_limit_km() const { return _rally_limit_km; } float get_rally_limit_km() const { return _rally_limit_km; }
@ -61,10 +63,10 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
static StorageAccess _storage;
// internal variables // internal variables
const AP_AHRS& _ahrs; // used only for home position const AP_AHRS& _ahrs; // used only for home position
uint16_t _max_rally_points;
const uint16_t _rally_start_byte;
// parameters // parameters
AP_Int8 _rally_point_total_count; AP_Int8 _rally_point_total_count;