AP_EFI: convert to using ap_object approach

libraries/AP_EFI/AP_EFI.cpp

@@ -276,18 +276,6 @@ void AP_EFI::get_state(EFI_State &_state)
     _state = state;
 }
 
-#if AP_EFI_SCRIPTING_ENABLED && AP_SCRIPTING_ENABLED
-
-void AP_EFI::handle_scripting(const EFI_State &efi_state)
-{
-    if (!backend || (Type(type.get()) != Type::SCRIPTING)) {
-        return;
-    }
-    backend->handle_scripting(efi_state);
-}
-
-#endif
-
 namespace AP {
 AP_EFI *EFI()
 {

libraries/AP_EFI/AP_EFI.h

@@ -95,8 +95,7 @@ public:
     void send_mavlink_status(mavlink_channel_t chan);
 
 #if AP_SCRIPTING_ENABLED
-    // Ingest EFI_State from scripting driver
-    void handle_scripting(const EFI_State &efi_state);
+    AP_EFI_Backend* get_backend(uint8_t idx) { return idx==0?backend:nullptr; }
 #endif
 
 protected:

libraries/AP_EFI/AP_EFI_Backend.h

@@ -32,7 +32,7 @@ public:
     virtual void update() = 0;
 
 #if AP_SCRIPTING_ENABLED
-    virtual void handle_scripting(const EFI_State &efi_state) { return; }
+    virtual bool handle_scripting(const EFI_State &efi_state) { return false; }
 #endif
 
 protected:

libraries/AP_EFI/AP_EFI_Scripting.cpp

@@ -9,10 +9,11 @@ void AP_EFI_Scripting::update()
 }
 
 // handle EFI message from scripting
-void AP_EFI_Scripting::handle_scripting(const EFI_State &efi_state)
+bool AP_EFI_Scripting::handle_scripting(const EFI_State &efi_state)
 {
     internal_state = efi_state;
     copy_to_frontend();
+    return true;
 }
 
 #endif // AP_EFI_SCRIPTING_ENABLED

libraries/AP_EFI/AP_EFI_Scripting.h

@@ -3,10 +3,6 @@
 #include "AP_EFI.h"
 #include "AP_EFI_Backend.h"
 
-#ifndef AP_EFI_SCRIPTING_ENABLED
-#define AP_EFI_SCRIPTING_ENABLED (HAL_EFI_ENABLED && AP_SCRIPTING_ENABLED)
-#endif
-
 #if AP_EFI_SCRIPTING_ENABLED
 
 class AP_EFI_Scripting : public AP_EFI_Backend {
@@ -15,6 +11,6 @@ public:
 
     void update() override;
 
-    void handle_scripting(const EFI_State &efi_state) override;
+    bool handle_scripting(const EFI_State &efi_state) override;
 };
 #endif // AP_EFI_SCRIPTING_ENABLED

libraries/AP_EFI/AP_EFI_config.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef HAL_EFI_ENABLED
+#define HAL_EFI_ENABLED !HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024
+#endif
+
+#ifndef AP_EFI_SCRIPTING_ENABLED
+#define AP_EFI_SCRIPTING_ENABLED (HAL_EFI_ENABLED && AP_SCRIPTING_ENABLED)
+#endif