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AP_InertialSensor: unify singleton naming to _singleton and get_singleton()

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This commit is contained in:
Tom Pittenger 2019-02-10 10:29:24 -08:00 committed by Tom Pittenger
parent 28323147ab
commit 9347e6d36f
4 changed files with 15 additions and 15 deletions
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16
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -455,16 +455,16 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
AP_GROUPEND AP_GROUPEND
}; };
AP_InertialSensor *AP_InertialSensor::_s_instance = nullptr; AP_InertialSensor *AP_InertialSensor::_singleton = nullptr;
AP_InertialSensor::AP_InertialSensor() : AP_InertialSensor::AP_InertialSensor() :
_board_orientation(ROTATION_NONE), _board_orientation(ROTATION_NONE),
_log_raw_bit(-1) _log_raw_bit(-1)
{ {
if (_s_instance) { if (_singleton) {
AP_HAL::panic("Too many inertial sensors"); AP_HAL::panic("Too many inertial sensors");
} }
_s_instance = this; _singleton = this;
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
_gyro_cal_ok[i] = true; _gyro_cal_ok[i] = true;
@ -481,12 +481,12 @@ AP_InertialSensor::AP_InertialSensor() :
/* /*
* Get the AP_InertialSensor singleton * Get the AP_InertialSensor singleton
*/ */
AP_InertialSensor *AP_InertialSensor::get_instance() AP_InertialSensor *AP_InertialSensor::get_singleton()
{ {
if (!_s_instance) { if (!_singleton) {
_s_instance = new AP_InertialSensor(); _singleton = new AP_InertialSensor();
} }
return _s_instance; return _singleton;
} }
/* /*
@ -1994,7 +1994,7 @@ namespace AP {
AP_InertialSensor &ins() AP_InertialSensor &ins()
{ {
return *AP_InertialSensor::get_instance(); return *AP_InertialSensor::get_singleton();
} }
}; };

4
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -55,7 +55,7 @@ public:
AP_InertialSensor(const AP_InertialSensor &other) = delete; AP_InertialSensor(const AP_InertialSensor &other) = delete;
AP_InertialSensor &operator=(const AP_InertialSensor&) = delete; AP_InertialSensor &operator=(const AP_InertialSensor&) = delete;
static AP_InertialSensor *get_instance(); static AP_InertialSensor *get_singleton();
enum Gyro_Calibration_Timing { enum Gyro_Calibration_Timing {
GYRO_CAL_NEVER = 0, GYRO_CAL_NEVER = 0,
@ -553,7 +553,7 @@ private:
AP_Int8 _acc_body_aligned; AP_Int8 _acc_body_aligned;
AP_Int8 _trim_option; AP_Int8 _trim_option;
static AP_InertialSensor *_s_instance; static AP_InertialSensor *_singleton;
AP_AccelCal* _acal; AP_AccelCal* _acal;
AccelCalibrator *_accel_calibrator; AccelCalibrator *_accel_calibrator;

6
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -216,7 +216,7 @@ void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gyro) void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gyro)
{ {
AP_Logger *dataflash = AP_Logger::instance(); AP_Logger *dataflash = AP_Logger::get_singleton();
if (dataflash == nullptr) { if (dataflash == nullptr) {
// should not have been called // should not have been called
return; return;
@ -348,7 +348,7 @@ void AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample(uint8_t inst
void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &accel) void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &accel)
{ {
AP_Logger *dataflash = AP_Logger::instance(); AP_Logger *dataflash = AP_Logger::get_singleton();
if (dataflash == nullptr) { if (dataflash == nullptr) {
// should not have been called // should not have been called
return; return;
@ -465,7 +465,7 @@ bool AP_InertialSensor_Backend::should_log_imu_raw() const
// tracker does not set a bit // tracker does not set a bit
return false; return false;
} }
const AP_Logger *instance = AP_Logger::instance(); const AP_Logger *instance = AP_Logger::get_singleton();
if (instance == nullptr) { if (instance == nullptr) {
return false; return false;
} }

4
libraries/AP_InertialSensor/BatchSampler.cpp
View File

@ -176,7 +176,7 @@ void AP_InertialSensor::BatchSampler::push_data_to_log()
// avoid flooding AP_Logger's buffer // avoid flooding AP_Logger's buffer
return; return;
} }
AP_Logger *dataflash = AP_Logger::instance(); AP_Logger *dataflash = AP_Logger::get_singleton();
if (dataflash == nullptr) { if (dataflash == nullptr) {
// should not have been called // should not have been called
return; return;
@ -250,7 +250,7 @@ bool AP_InertialSensor::BatchSampler::should_log(uint8_t _instance, IMU_SENSOR_T
if (data_write_offset >= _required_count) { if (data_write_offset >= _required_count) {
return false; return false;
} }
AP_Logger *dataflash = AP_Logger::instance(); AP_Logger *dataflash = AP_Logger::get_singleton();
if (dataflash == nullptr) { if (dataflash == nullptr) {
return false; return false;
} }