SRV_Channel: create and use a singleton for SRV_Channels

avoid creation of static pointers to objects held within SRV_Channels

libraries/SRV_Channel/SRV_Channel.h

@@ -473,7 +473,7 @@ public:
                            int16_t value, int16_t angle_min, int16_t angle_max);
 
     // assign and enable auxiliary channels
-    static void enable_aux_servos(void);
+    void enable_aux_servos(void);
 
     // enable channels by mask
     static void enable_by_mask(uint32_t mask);
@@ -541,7 +541,7 @@ public:
     
     static void cork();
 
-    static void push();
+    void push();
 
     // disable PWM output to a set of channels given by a mask. This is used by the AP_BLHeli code
     static void set_disabled_channel_mask(uint32_t mask) { disabled_mask = mask; }
@@ -570,7 +570,7 @@ public:
     static void zero_rc_outputs();
 
     // initialize before any call to push
-    static void init(uint32_t motor_mask = 0, AP_HAL::RCOutput::output_mode mode = AP_HAL::RCOutput::MODE_PWM_NONE);
+    void init(uint32_t motor_mask = 0, AP_HAL::RCOutput::output_mode mode = AP_HAL::RCOutput::MODE_PWM_NONE);
 
     // return true if a channel is set to type GPIO
     static bool is_GPIO(uint8_t channel);
@@ -610,30 +610,25 @@ private:
 #if AP_VOLZ_ENABLED
     // support for Volz protocol
     AP_Volz_Protocol volz;
-    static AP_Volz_Protocol *volz_ptr;
 #endif
 
 #if AP_SBUSOUTPUT_ENABLED
     // support for SBUS protocol
     AP_SBusOut sbus;
-    static AP_SBusOut *sbus_ptr;
 #endif
 
 #if AP_ROBOTISSERVO_ENABLED
     // support for Robotis servo protocol
     AP_RobotisServo robotis;
-    static AP_RobotisServo *robotis_ptr;
 #endif
 
 #if HAL_SUPPORT_RCOUT_SERIAL
     // support for BLHeli protocol
     AP_BLHeli blheli;
-    static AP_BLHeli *blheli_ptr;
 #endif
 
 #if AP_FETTEC_ONEWIRE_ENABLED
     AP_FETtecOneWire fetteconwire;
-    static AP_FETtecOneWire *fetteconwire_ptr;
 #endif  // AP_FETTEC_ONEWIRE_ENABLED
 
     // mask of disabled channels
@@ -692,3 +687,7 @@ private:
     // semaphore for multi-thread use of override_counter array
     HAL_Semaphore override_counter_sem;
 };
+
+namespace AP {
+    SRV_Channels &srv();
+};

libraries/SRV_Channel/SRV_Channel_aux.cpp

@@ -270,7 +270,7 @@ void SRV_Channels::enable_aux_servos()
     hal.rcout->update_channel_masks();
 
 #if HAL_SUPPORT_RCOUT_SERIAL
-    blheli_ptr->update();
+    blheli.update();
 #endif
 }
 

libraries/SRV_Channel/SRV_Channels.cpp

@@ -41,28 +41,8 @@ extern const AP_HAL::HAL& hal;
 SRV_Channel *SRV_Channels::channels;
 SRV_Channels *SRV_Channels::_singleton;
 
-#if AP_VOLZ_ENABLED
-AP_Volz_Protocol *SRV_Channels::volz_ptr;
-#endif
-
-#if AP_SBUSOUTPUT_ENABLED
-AP_SBusOut *SRV_Channels::sbus_ptr;
-#endif
-
-#if AP_ROBOTISSERVO_ENABLED
-AP_RobotisServo *SRV_Channels::robotis_ptr;
-#endif
-
-#if AP_FETTEC_ONEWIRE_ENABLED
-AP_FETtecOneWire *SRV_Channels::fetteconwire_ptr;
-#endif
-
 uint16_t SRV_Channels::override_counter[NUM_SERVO_CHANNELS];
 
-#if HAL_SUPPORT_RCOUT_SERIAL
-AP_BLHeli *SRV_Channels::blheli_ptr;
-#endif
-
 uint32_t SRV_Channels::disabled_mask;
 uint32_t SRV_Channels::digital_mask;
 uint32_t SRV_Channels::reversible_mask;
@@ -379,26 +359,6 @@ SRV_Channels::SRV_Channels(void)
         }
 #endif
     }
-
-#if AP_FETTEC_ONEWIRE_ENABLED
-    fetteconwire_ptr = &fetteconwire;
-#endif
-
-#if AP_VOLZ_ENABLED
-    volz_ptr = &volz;
-#endif
-
-#if AP_SBUSOUTPUT_ENABLED
-    sbus_ptr = &sbus;
-#endif
-
-#if AP_ROBOTISSERVO_ENABLED
-    robotis_ptr = &robotis;
-#endif // AP_ROBOTISSERVO_ENABLED
-
-#if HAL_SUPPORT_RCOUT_SERIAL
-    blheli_ptr = &blheli;
-#endif
 }
 
 // SRV_Channels initialization
@@ -406,7 +366,7 @@ void SRV_Channels::init(uint32_t motor_mask, AP_HAL::RCOutput::output_mode mode)
 {
     // initialize BLHeli late so that all of the masks it might setup don't get trodden on by motor initialization
 #if HAL_SUPPORT_RCOUT_SERIAL
-    blheli_ptr->init(motor_mask, mode);
+    blheli.init(motor_mask, mode);
 #endif
 #ifndef HAL_BUILD_AP_PERIPH
     hal.rcout->set_dshot_rate(_singleton->dshot_rate, AP::scheduler().get_loop_rate_hz());
@@ -519,26 +479,26 @@ void SRV_Channels::push()
 
 #if AP_VOLZ_ENABLED
     // give volz library a chance to update
-    volz_ptr->update();
+    volz.update();
 #endif
 
 #if AP_SBUSOUTPUT_ENABLED
     // give sbus library a chance to update
-    sbus_ptr->update();
+    sbus.update();
 #endif
 
 #if AP_ROBOTISSERVO_ENABLED
     // give robotis library a chance to update
-    robotis_ptr->update();
+    robotis.update();
 #endif
 
 #if HAL_SUPPORT_RCOUT_SERIAL
     // give blheli telemetry a chance to update
-    blheli_ptr->update_telemetry();
+    blheli.update_telemetry();
 #endif
 
 #if AP_FETTEC_ONEWIRE_ENABLED
-    fetteconwire_ptr->update();
+    fetteconwire.update();
 #endif
 
 #if AP_KDECAN_ENABLED
@@ -589,7 +549,7 @@ void SRV_Channels::zero_rc_outputs()
     for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
         hal.rcout->write(i, 0);
     }
-    push();
+    AP::srv().push();
 }
 
 /*
@@ -619,3 +579,12 @@ void SRV_Channels::set_emergency_stop(bool state) {
 #endif
     emergency_stop = state;
 }
+
+namespace AP {
+
+SRV_Channels &srv()
+{
+    return *SRV_Channels::get_singleton();
+}
+
+};