AP_Mission: convert to using StorageManager

libraries/AP_Mission/AP_Mission.cpp

@@ -27,6 +27,9 @@ const AP_Param::GroupInfo AP_Mission::var_info[] PROGMEM = {
 
 extern const AP_HAL::HAL& hal;
 
+// storage object
+StorageAccess AP_Mission::_storage(StorageManager::StorageMission);
+
 ///
 /// public mission methods
 ///
@@ -377,8 +380,6 @@ bool AP_Mission::set_current_cmd(uint16_t index)
 ///     true is return if successful
 bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) const
 {
-    uint16_t pos_in_storage;    // position in storage from where we will read the next byte
-
     // exit immediately if index is beyond last command but we always let cmd #0 (i.e. home) be read
     if (index > (unsigned)_cmd_total && index != 0) {
         return false;
@@ -394,11 +395,11 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
         // Find out proper location in memory by using the start_byte position + the index
         // we can load a command, we don't process it yet
         // read WP position
-        pos_in_storage = _storage_start + 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
+        uint16_t pos_in_storage = 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
 
-        cmd.id = hal.storage->read_byte(pos_in_storage);
-        cmd.p1 = hal.storage->read_word(pos_in_storage+1);
-        hal.storage->read_block(cmd.content.bytes, pos_in_storage+3, 12);
+        cmd.id = _storage.read_byte(pos_in_storage);
+        cmd.p1 = _storage.read_uint16(pos_in_storage+1);
+        _storage.read_block(cmd.content.bytes, pos_in_storage+3, 12);
 
         // set command's index to it's position in eeprom
         cmd.index = index;
@@ -414,16 +415,16 @@ bool AP_Mission::read_cmd_from_storage(uint16_t index, Mission_Command& cmd) con
 bool AP_Mission::write_cmd_to_storage(uint16_t index, Mission_Command& cmd)
 {
     // range check cmd's index
-    if (index >= _cmd_total_max) {
+    if (index >= num_commands_max()) {
         return false;
     }
 
     // calculate where in storage the command should be placed
-    uint16_t pos_in_storage = _storage_start + 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
+    uint16_t pos_in_storage = 4 + (index * AP_MISSION_EEPROM_COMMAND_SIZE);
 
-    hal.storage->write_byte(pos_in_storage, cmd.id);
-    hal.storage->write_word(pos_in_storage+1, cmd.p1);
-    hal.storage->write_block(pos_in_storage+3, cmd.content.bytes, 12);
+    _storage.write_byte(pos_in_storage, cmd.id);
+    _storage.write_uint16(pos_in_storage+1, cmd.p1);
+    _storage.write_block(pos_in_storage+3, cmd.content.bytes, 12);
 
     // remember when the mission last changed
     _last_change_time_ms = hal.scheduler->millis();
@@ -1193,12 +1194,22 @@ void AP_Mission::increment_jump_times_run(Mission_Command& cmd)
 // command list will be cleared if they do not match
 void AP_Mission::check_eeprom_version()
 {
-    uint32_t eeprom_version = hal.storage->read_dword(_storage_start);
+    uint32_t eeprom_version = _storage.read_uint32(0);
 
     // if eeprom version does not match, clear the command list and update the eeprom version
     if (eeprom_version != AP_MISSION_EEPROM_VERSION) {
         if (clear()) {
-            hal.storage->write_dword(_storage_start, AP_MISSION_EEPROM_VERSION);
+            _storage.write_uint32(0, AP_MISSION_EEPROM_VERSION);
         }
     }
 }
+
+/*
+  return total number of commands that can fit in storage space
+ */
+uint16_t AP_Mission::num_commands_max(void) const
+{
+    // -4 to remove space for eeprom version number
+    return (_storage.size() - 4) / AP_MISSION_EEPROM_COMMAND_SIZE;
+}
+

libraries/AP_Mission/AP_Mission.h

@@ -21,6 +21,7 @@
 #include <AP_Param.h>
 #include <AP_AHRS.h>
 #include <AP_HAL.h>
+#include <../StorageManager/StorageManager.h>
 
 // definitions
 #define AP_MISSION_EEPROM_VERSION           0x65AE  // version number stored in first four bytes of eeprom.  increment this by one when eeprom format is changed
@@ -184,7 +185,7 @@ public:
     };
 
     /// constructor
-    AP_Mission(AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn, uint16_t storage_start, uint16_t storage_end) :
+    AP_Mission(AP_AHRS &ahrs, mission_cmd_fn_t cmd_start_fn, mission_cmd_fn_t cmd_verify_fn, mission_complete_fn_t mission_complete_fn) :
         _ahrs(ahrs),
         _cmd_start_fn(cmd_start_fn),
         _cmd_verify_fn(cmd_verify_fn),
@@ -195,10 +196,6 @@ public:
         // load parameter defaults
         AP_Param::setup_object_defaults(this, var_info);
 
-        // calculate
-        _storage_start = storage_start;
-        _cmd_total_max = ((storage_end - storage_start - 4) / AP_MISSION_EEPROM_COMMAND_SIZE) -1;   // -4 to remove space for eeprom version number, -1 to be safe
-
         // clear commands
         _nav_cmd.index = AP_MISSION_CMD_INDEX_NONE;
         _do_cmd.index = AP_MISSION_CMD_INDEX_NONE;
@@ -223,7 +220,7 @@ public:
     uint16_t num_commands() const { return _cmd_total; }
 
     /// num_commands_max - returns maximum number of commands that can be stored
-    uint16_t num_commands_max() const {return _cmd_total_max; }
+    uint16_t num_commands_max() const;
 
     /// start - resets current commands to point to the beginning of the mission
     ///     To-Do: should we validate the mission first and return true/false?
@@ -328,6 +325,7 @@ public:
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
+    static StorageAccess _storage;
 
     struct Mission_Flags {
         mission_state state;
@@ -396,8 +394,6 @@ private:
     mission_complete_fn_t   _mission_complete_fn;   // pointer to function which will be called when mission completes
 
     // internal variables
-    uint16_t                _storage_start; // first position we are free to use in eeprom storage
-    uint16_t                _cmd_total_max; // maximum number of commands we can store
     struct Mission_Command  _nav_cmd;   // current "navigation" command.  It's position in the command list is held in _nav_cmd.index
     struct Mission_Command  _do_cmd;    // current "do" command.  It's position in the command list is held in _do_cmd.index
     uint16_t                _prev_nav_cmd_index;    // index of the previous "navigation" command.  Rarely used which is why we don't store the whole command