AP_Rally: convert to using StorageManager

libraries/AP_Rally/AP_Rally.cpp

@@ -7,6 +7,9 @@
 #include <AP_HAL.h>
 extern const AP_HAL::HAL& hal;
 
+// storage object
+StorageAccess AP_Rally::_storage(StorageManager::StorageRally);
+
 // ArduCopter/defines.h sets this, and this definition will be moved into ArduPlane/defines.h when that is patched to use the lib
 #ifdef APM_BUILD_DIRECTORY
   #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
@@ -41,10 +44,8 @@ const AP_Param::GroupInfo AP_Rally::var_info[] PROGMEM = {
 };
 
 // constructor
-AP_Rally::AP_Rally(AP_AHRS &ahrs, uint16_t max_rally_points, uint16_t rally_start_byte) 
+AP_Rally::AP_Rally(AP_AHRS &ahrs) 
     : _ahrs(ahrs)
-    , _max_rally_points(max_rally_points)
-    , _rally_start_byte(rally_start_byte)
     , _last_change_time_ms(0xFFFFFFFF)
 {
     AP_Param::setup_object_defaults(this, var_info);
@@ -57,7 +58,7 @@ bool AP_Rally::get_rally_point_with_index(uint8_t i, RallyLocation &ret) const
         return false;
     }
 
-    hal.storage->read_block(&ret, _rally_start_byte + (i * sizeof(RallyLocation)), sizeof(RallyLocation));
+    _storage.read_block(&ret, i * sizeof(RallyLocation), sizeof(RallyLocation));
 
     if (ret.lat == 0 && ret.lng == 0) {
         return false; // sanity check
@@ -73,11 +74,11 @@ bool AP_Rally::set_rally_point_with_index(uint8_t i, const RallyLocation &rallyL
         return false;
     }
 
-    if (i >= (uint8_t) _max_rally_points) {
+    if (i >= get_rally_max()) {
         return false;
     }
 
-    hal.storage->write_block(_rally_start_byte + (i * sizeof(RallyLocation)), &rallyLoc, sizeof(RallyLocation));
+    _storage.write_block(i * sizeof(RallyLocation), &rallyLoc, sizeof(RallyLocation));
 
     _last_change_time_ms = hal.scheduler->millis();
 

libraries/AP_Rally/AP_Rally.h

@@ -20,8 +20,9 @@
 #include <AP_Common.h>
 #include <AP_Param.h>
 #include <AP_AHRS.h>
+#include <../StorageManager/StorageManager.h>
 
-#define AC_RALLY_WP_SIZE        15  // eeprom size of rally points
+#define AP_RALLY_WP_SIZE        15  // eeprom size of rally points
 
 struct PACKED RallyLocation {
     int32_t lat;        //Latitude * 10^7
@@ -39,12 +40,13 @@ struct PACKED RallyLocation {
 class AP_Rally {
 
 public:
-    AP_Rally(AP_AHRS &ahrs, uint16_t max_rally_points, uint16_t rally_start_byte);
+    AP_Rally(AP_AHRS &ahrs);
 
     // data handling
     bool get_rally_point_with_index(uint8_t i, RallyLocation &ret) const;
     bool set_rally_point_with_index(uint8_t i, const RallyLocation &rallyLoc);
     uint8_t get_rally_total() const { return _rally_point_total_count; }
+    uint8_t get_rally_max(void) const { return _storage.size() / AP_RALLY_WP_SIZE; }
 
     float get_rally_limit_km() const { return _rally_limit_km; }
     
@@ -61,10 +63,10 @@ public:
     static const struct AP_Param::GroupInfo var_info[];
 
 private:
+    static StorageAccess _storage;
+
     // internal variables
     const AP_AHRS& _ahrs; // used only for home position
-    uint16_t _max_rally_points;
-    const uint16_t _rally_start_byte;
 
     // parameters
     AP_Int8  _rally_point_total_count;