GCS_MAVLink: support for a singleton

libraries/GCS_MAVLink/GCS.h

@@ -22,12 +22,6 @@
 #define CHECK_PAYLOAD_SIZE(id) if (comm_get_txspace(chan) < packet_overhead()+MAVLINK_MSG_ID_ ## id ## _LEN) return false
 #define CHECK_PAYLOAD_SIZE2(id) if (!HAVE_PAYLOAD_SPACE(chan, id)) return false
 
-#if HAL_CPU_CLASS <= HAL_CPU_CLASS_150 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
-    #define GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY          5
-#else
-    #define GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY          30
-#endif
-
 //  GCS Message ID's
 /// NOTE: to ensure we never block on sending MAVLink messages
 /// please keep each MSG_ to a single MAVLink message. If need be
@@ -79,7 +73,6 @@ enum ap_message {
     MSG_RETRY_DEFERRED // this must be last
 };
 
-
 ///
 /// @class	GCS_MAVLINK
 /// @brief	MAVLink transport control class
@@ -104,13 +97,6 @@ public:
     virtual void packetReceived(const mavlink_status_t &status,
                                 mavlink_message_t &msg);
 
-    struct statustext_t {
-        uint8_t                 bitmask;
-        mavlink_statustext_t    msg;
-    };
-    static ObjectArray<statustext_t> _statustext_queue;
-
-
     // accessor for uart
     AP_HAL::UARTDriver *get_uart() { return _port; }
 
@@ -177,14 +163,15 @@ public:
     // over active channels to send to all active channels    
     static uint8_t active_channel_mask(void) { return mavlink_active; }
 
+    // return a bitmap of streaming channels
+    static uint8_t streaming_channel_mask(void) { return chan_is_streaming; }
+
     /*
     send a statustext message to active MAVLink connections, or a specific
     one. This function is static so it can be called from any library.
     */
     static void send_statustext_all(MAV_SEVERITY severity, const char *fmt, ...);
     static void send_statustext_chan(MAV_SEVERITY severity, uint8_t dest_chan, const char *fmt, ...);
-    static void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
-    static void service_statustext(void);
 
     // send a PARAM_VALUE message to all active MAVLink connections.
     static void send_parameter_value_all(const char *param_name, ap_var_type param_type, float param_value);
@@ -206,20 +193,6 @@ public:
      */
     static bool find_by_mavtype(uint8_t mav_type, uint8_t &sysid, uint8_t &compid, mavlink_channel_t &channel) { return routing.find_by_mavtype(mav_type, sysid, compid, channel); }
 
-    /*
-      set a dataflash pointer for logging
-     */
-    static void set_dataflash(DataFlash_Class *dataflash) {
-        dataflash_p = dataflash;
-    }
-
-    /*
-      set a frsky_telem pointer for queueing
-     */
-    static void register_frsky_telemetry_callback(AP_Frsky_Telem *frsky_telemetry) {
-        frsky_telemetry_p = frsky_telemetry;
-    }
-
     // update signing timestamp on GPS lock
     static void update_signing_timestamp(uint64_t timestamp_usec);
 
@@ -381,9 +354,6 @@ private:
     // mavlink routing object
     static MAVLink_routing routing;
 
-    // pointer to static dataflash for logging of text messages
-    static DataFlash_Class *dataflash_p;
-
     // pointer to static frsky_telem for queueing of text messages
     static AP_Frsky_Telem *frsky_telemetry_p;
  
@@ -422,3 +392,71 @@ private:
     bool signing_enabled(void) const;
     static void save_signing_timestamp(bool force_save_now);
 };
+
+/// @class GCS
+/// @brief global GCS object
+class GCS
+{
+
+public:
+
+    GCS() {
+        if (_singleton  == nullptr) {
+            _singleton = this;
+        } else {
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+            // this is a serious problem, but we don't need to kill a
+            // real vehicle
+            AP_HAL::panic("GCS must be singleton");
+#endif
+        }
+    };
+
+    static class GCS *instance() {
+        return _singleton;
+    }
+
+    void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
+    void service_statustext(void);
+
+    /*
+      set a dataflash pointer for logging
+     */
+    void set_dataflash(DataFlash_Class *dataflash) {
+        dataflash_p = dataflash;
+    }
+
+    // pointer to static dataflash for logging of text messages
+    DataFlash_Class *dataflash_p;
+
+
+    /*
+      set a frsky_telem pointer for queueing
+     */
+    void register_frsky_telemetry_callback(AP_Frsky_Telem *frsky_telemetry) {
+        frsky_telemetry_p = frsky_telemetry;
+    }
+
+    // static frsky_telem pointer to support queueing text messages
+    AP_Frsky_Telem *frsky_telemetry_p;
+
+private:
+
+    static GCS *_singleton;
+
+    struct statustext_t {
+        uint8_t                 bitmask;
+        mavlink_statustext_t    msg;
+    };
+
+#if HAL_CPU_CLASS <= HAL_CPU_CLASS_150 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    static const uint8_t _status_capacity = 5;
+#else
+    static const uint8_t _status_capacity = 30;
+#endif
+
+    ObjectArray<statustext_t> _statustext_queue{_status_capacity};
+
+};
+
+GCS &gcs();

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -34,9 +34,10 @@ extern const AP_HAL::HAL& hal;
 uint32_t GCS_MAVLINK::last_radio_status_remrssi_ms;
 uint8_t GCS_MAVLINK::mavlink_active = 0;
 uint8_t GCS_MAVLINK::chan_is_streaming = 0;
-ObjectArray<GCS_MAVLINK::statustext_t> GCS_MAVLINK::_statustext_queue(GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY);
 uint32_t GCS_MAVLINK::reserve_param_space_start_ms;
 
+GCS *GCS::_singleton = nullptr;
+
 GCS_MAVLINK::GCS_MAVLINK()
 {
     AP_Param::setup_object_defaults(this, var_info);
@@ -1326,7 +1327,7 @@ void GCS_MAVLINK::send_statustext_all(MAV_SEVERITY severity, const char *fmt, ..
     hal.util->vsnprintf((char *)text, sizeof(text)-1, fmt, arg_list);
     va_end(arg_list);
     text[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN] = 0;
-    send_statustext(severity, mavlink_active | chan_is_streaming, text);
+    gcs().send_statustext(severity, mavlink_active | chan_is_streaming, text);
 }
 
 /*
@@ -1339,14 +1340,14 @@ void GCS_MAVLINK::send_statustext_chan(MAV_SEVERITY severity, uint8_t dest_chan,
     va_start(arg_list, fmt);
     hal.util->vsnprintf((char *)text, sizeof(text), fmt, arg_list);
     va_end(arg_list);
-    send_statustext(severity, (1<<dest_chan), text);
+    gcs().send_statustext(severity, (1<<dest_chan), text);
 }
 
 
 /*
     send a statustext text string to specific MAVLink bitmask
 */
-void GCS_MAVLINK::send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text)
+void GCS::send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text)
 {
     if (dataflash_p != nullptr) {
         dataflash_p->Log_Write_Message(text);
@@ -1359,7 +1360,7 @@ void GCS_MAVLINK::send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, c
 
     // filter destination ports to only allow active ports.
     statustext_t statustext{};
-    statustext.bitmask = (mavlink_active | chan_is_streaming) & dest_bitmask;
+    statustext.bitmask = (GCS_MAVLINK::active_channel_mask()  | GCS_MAVLINK::streaming_channel_mask() ) & dest_bitmask;
     if (!statustext.bitmask) {
         // nowhere to send
         return;
@@ -1376,17 +1377,18 @@ void GCS_MAVLINK::send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, c
     // try and send immediately if possible
     service_statustext();
 }
+
 /*
     send a statustext message to specific MAVLink connections in a bitmask
  */
-void GCS_MAVLINK::service_statustext(void)
+void GCS::service_statustext(void)
 {
     // create bitmask of what mavlink ports we should send this text to.
     // note, if sending to all ports, we only need to store the bitmask for each and the string only once.
     // once we send over a link, clear the port but other busy ports bit may stay allowing for faster links
     // to clear the bit and send quickly but slower links to still store the string. Regardless of mixed
-    // bitrates of ports, a maximum of GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY strings can be buffered. Downside
+    // bitrates of ports, a maximum of _status_capacity strings can be buffered. Downside
-    // is if you have a super slow link mixed with a faster port, if there are GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY
+    // is if you have a super slow link mixed with a faster port, if there are _status_capacity
     // strings in the slow queue then the next item can not be queued for the faster link
 
     if (_statustext_queue.empty()) {
@@ -1394,7 +1396,7 @@ void GCS_MAVLINK::service_statustext(void)
         return;
     }
 
-    for (uint8_t idx=0; idx<GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY; ) {
+    for (uint8_t idx=0; idx<_status_capacity; ) {
         statustext_t *statustext = _statustext_queue[idx];
         if (statustext == nullptr) {
             break;
@@ -1847,3 +1849,8 @@ void GCS_MAVLINK::handle_common_message(mavlink_message_t *msg)
         break;
     }
 }
+
+GCS &gcs()
+{
+    return *GCS::instance();
+}

libraries/GCS_MAVLink/GCS_MAVLink.cpp

@@ -46,12 +46,6 @@ static uint8_t mavlink_locked_mask;
 // routing table
 MAVLink_routing GCS_MAVLINK::routing;
 
-// static dataflash pointer to support logging text messages
-DataFlash_Class *GCS_MAVLINK::dataflash_p;
-
-// static frsky_telem pointer to support queueing text messages
-AP_Frsky_Telem *GCS_MAVLINK::frsky_telemetry_p;
- 
 // static AP_SerialManager pointer
 const AP_SerialManager *GCS_MAVLINK::serialmanager_p;
 

libraries/GCS_MAVLink/examples/routing/routing.cpp

@@ -30,7 +30,7 @@ private:
 
 
 static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
-static GCS_MAVLINK_routing gcs[MAVLINK_COMM_NUM_BUFFERS];
+static GCS_MAVLINK_routing gcs_link[MAVLINK_COMM_NUM_BUFFERS];
 
 extern mavlink_system_t mavlink_system;
 
@@ -42,8 +42,8 @@ static MAVLink_routing routing;
 
 void setup(void)
 {
-    hal.console->printf("routing test startup...\n");
+    hal.console->printf("routing test startup...");
-    gcs[0].init(hal.uartA, MAVLINK_COMM_0);
+    gcs_link[0].init(hal.uartA, MAVLINK_COMM_0);
 }
 
 void loop(void)