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AP_BattMonitor: Remove redundant state copy

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Every backend stored a instance reference, which wasn't used in most locations
which is redundant given that the state already tracks the instance for us as
well.
This commit is contained in:
Michael du Breuil 2017-04-23 23:25:52 -07:00 committed by Francisco Ferreira
parent 3ab3face9b
commit f919c409bb
11 changed files with 23 additions and 25 deletions
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8
libraries/AP_BattMonitor/AP_BattMonitor.cpp
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@ -180,25 +180,25 @@ AP_BattMonitor::init()
case BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY: case BattMonitor_TYPE_ANALOG_VOLTAGE_ONLY:
case BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT: case BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT:
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_BattMonitor_Analog(*this, instance, state[instance]); drivers[instance] = new AP_BattMonitor_Analog(*this, state[instance]);
_num_instances++; _num_instances++;
break; break;
case BattMonitor_TYPE_SOLO: case BattMonitor_TYPE_SOLO:
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_BattMonitor_SMBus_Solo(*this, instance, state[instance], drivers[instance] = new AP_BattMonitor_SMBus_Solo(*this, state[instance],
hal.i2c_mgr->get_device(AP_BATTMONITOR_SMBUS_BUS_INTERNAL, AP_BATTMONITOR_SMBUS_I2C_ADDR)); hal.i2c_mgr->get_device(AP_BATTMONITOR_SMBUS_BUS_INTERNAL, AP_BATTMONITOR_SMBUS_I2C_ADDR));
_num_instances++; _num_instances++;
break; break;
case BattMonitor_TYPE_MAXELL: case BattMonitor_TYPE_MAXELL:
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_BattMonitor_SMBus_Maxell(*this, instance, state[instance], drivers[instance] = new AP_BattMonitor_SMBus_Maxell(*this, state[instance],
hal.i2c_mgr->get_device(AP_BATTMONITOR_SMBUS_BUS_EXTERNAL, AP_BATTMONITOR_SMBUS_I2C_ADDR)); hal.i2c_mgr->get_device(AP_BATTMONITOR_SMBUS_BUS_EXTERNAL, AP_BATTMONITOR_SMBUS_I2C_ADDR));
_num_instances++; _num_instances++;
break; break;
case BattMonitor_TYPE_BEBOP: case BattMonitor_TYPE_BEBOP:
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
state[instance].instance = instance; state[instance].instance = instance;
drivers[instance] = new AP_BattMonitor_Bebop(*this, instance, state[instance]); drivers[instance] = new AP_BattMonitor_Bebop(*this, state[instance]);
_num_instances++; _num_instances++;
#endif #endif
break; break;

8
libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
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@ -7,11 +7,11 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
/// Constructor /// Constructor
AP_BattMonitor_Analog::AP_BattMonitor_Analog(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state) : AP_BattMonitor_Analog::AP_BattMonitor_Analog(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state) :
AP_BattMonitor_Backend(mon, instance, mon_state) AP_BattMonitor_Backend(mon, mon_state)
{ {
_volt_pin_analog_source = hal.analogin->channel(mon._volt_pin[instance]); _volt_pin_analog_source = hal.analogin->channel(mon._volt_pin[_state.instance]);
_curr_pin_analog_source = hal.analogin->channel(mon._curr_pin[instance]); _curr_pin_analog_source = hal.analogin->channel(mon._curr_pin[_state.instance]);
// always healthy // always healthy
_state.healthy = true; _state.healthy = true;

2
libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
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@ -82,7 +82,7 @@ class AP_BattMonitor_Analog : public AP_BattMonitor_Backend
public: public:
/// Constructor /// Constructor
AP_BattMonitor_Analog(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state); AP_BattMonitor_Analog(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state);
/// Read the battery voltage and current. Should be called at 10hz /// Read the battery voltage and current. Should be called at 10hz
void read(); void read();

9
libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp
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@ -22,10 +22,9 @@
base class constructor. base class constructor.
This incorporates initialisation as well. This incorporates initialisation as well.
*/ */
AP_BattMonitor_Backend::AP_BattMonitor_Backend(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state) : AP_BattMonitor_Backend::AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state) :
_mon(mon), _mon(mon),
_state(mon_state), _state(mon_state)
_instance(instance)
{ {
} }
@ -43,11 +42,11 @@ uint8_t AP_BattMonitor_Backend::capacity_remaining_pct() const
/// set capacity for this instance /// set capacity for this instance
void AP_BattMonitor_Backend::set_capacity(uint32_t capacity) void AP_BattMonitor_Backend::set_capacity(uint32_t capacity)
{ {
_mon._pack_capacity[_instance] = capacity; _mon._pack_capacity[_state.instance] = capacity;
} }
/// get capacity for this instance /// get capacity for this instance
int32_t AP_BattMonitor_Backend::get_capacity() const int32_t AP_BattMonitor_Backend::get_capacity() const
{ {
return _mon.pack_capacity_mah(_instance); return _mon.pack_capacity_mah(_state.instance);
} }

3
libraries/AP_BattMonitor/AP_BattMonitor_Backend.h
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@ -22,7 +22,7 @@ class AP_BattMonitor_Backend
{ {
public: public:
// constructor. This incorporates initialisation as well. // constructor. This incorporates initialisation as well.
AP_BattMonitor_Backend(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state); AP_BattMonitor_Backend(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state);
// we declare a virtual destructor so that BattMonitor driver can // we declare a virtual destructor so that BattMonitor driver can
// override with a custom destructor if need be // override with a custom destructor if need be
@ -46,5 +46,4 @@ public:
protected: protected:
AP_BattMonitor &_mon; // reference to front-end AP_BattMonitor &_mon; // reference to front-end
AP_BattMonitor::BattMonitor_State &_state; // reference to this instances state (held in the front-end) AP_BattMonitor::BattMonitor_State &_state; // reference to this instances state (held in the front-end)
uint8_t _instance; // this instance
}; };

4
libraries/AP_BattMonitor/AP_BattMonitor_Bebop.h
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@ -22,8 +22,8 @@ class AP_BattMonitor_Bebop :public AP_BattMonitor_Backend
{ {
public: public:
// constructor. This incorporates initialisation as well. // constructor. This incorporates initialisation as well.
AP_BattMonitor_Bebop(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor::BattMonitor_State &mon_state): AP_BattMonitor_Bebop(AP_BattMonitor &mon, AP_BattMonitor::BattMonitor_State &mon_state):
AP_BattMonitor_Backend(mon, instance, mon_state), AP_BattMonitor_Backend(mon, mon_state),
_prev_vbat_raw(0.0f), _prev_vbat_raw(0.0f),
_prev_vbat(0.0f), _prev_vbat(0.0f),
_battery_voltage_max(0.0f) _battery_voltage_max(0.0f)

2
libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h
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@ -16,7 +16,7 @@ class AP_BattMonitor_SMBus : public AP_BattMonitor_Backend
public: public:
/// Constructor /// Constructor
AP_BattMonitor_SMBus(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor_SMBus(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor::BattMonitor_State &mon_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);

4
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Maxell.cpp
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@ -36,10 +36,10 @@ uint8_t maxell_cell_ids[] = { 0x3f, // cell 1
*/ */
// Constructor // Constructor
AP_BattMonitor_SMBus_Maxell::AP_BattMonitor_SMBus_Maxell(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor_SMBus_Maxell::AP_BattMonitor_SMBus_Maxell(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor::BattMonitor_State &mon_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_BattMonitor_SMBus(mon, instance, mon_state, std::move(dev)) : AP_BattMonitor_SMBus(mon, mon_state, std::move(dev))
{ {
_dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus_Maxell::timer, void)); _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus_Maxell::timer, void));
} }

2
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Maxell.h
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@ -11,7 +11,7 @@ class AP_BattMonitor_SMBus_Maxell : public AP_BattMonitor_SMBus
public: public:
// Constructor // Constructor
AP_BattMonitor_SMBus_Maxell(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor_SMBus_Maxell(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor::BattMonitor_State &mon_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);

4
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp
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@ -29,10 +29,10 @@
*/ */
// Constructor // Constructor
AP_BattMonitor_SMBus_Solo::AP_BattMonitor_SMBus_Solo(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor_SMBus_Solo::AP_BattMonitor_SMBus_Solo(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor::BattMonitor_State &mon_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
: AP_BattMonitor_SMBus(mon, instance, mon_state, std::move(dev)) : AP_BattMonitor_SMBus(mon, mon_state, std::move(dev))
{ {
_pec_supported = true; _pec_supported = true;
_dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus_Solo::timer, void)); _dev->register_periodic_callback(100000, FUNCTOR_BIND_MEMBER(&AP_BattMonitor_SMBus_Solo::timer, void));

2
libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.h
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@ -11,7 +11,7 @@ class AP_BattMonitor_SMBus_Solo : public AP_BattMonitor_SMBus
public: public:
// Constructor // Constructor
AP_BattMonitor_SMBus_Solo(AP_BattMonitor &mon, uint8_t instance, AP_BattMonitor_SMBus_Solo(AP_BattMonitor &mon,
AP_BattMonitor::BattMonitor_State &mon_state, AP_BattMonitor::BattMonitor_State &mon_state,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);