AP_AIS: add singleton

libraries/AP_AIS/AP_AIS.cpp

@@ -19,7 +19,7 @@
 
 #include "AP_AIS.h"
 
-#if HAL_AIS_ENABLED
+#if AP_AIS_ENABLED
 
 #include <AP_Logger/AP_Logger.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
@@ -63,6 +63,11 @@ const AP_Param::GroupInfo AP_AIS::var_info[] = {
 // constructor
 AP_AIS::AP_AIS()
 {
+    if (_singleton != nullptr) {
+        AP_HAL::panic("AIS must be singleton");
+    }
+    _singleton = this;
+
     AP_Param::setup_object_defaults(this, var_info);
 }
 
@@ -804,4 +809,6 @@ bool AP_AIS::decode_latest_term()
     return false;
 }
 
-#endif  // HAL_AIS_ENABLED
+AP_AIS *AP_AIS::_singleton;
+
+#endif  // AP_AIS_ENABLED

libraries/AP_AIS/AP_AIS.h

@@ -14,15 +14,17 @@
  */
 #pragma once
 
-#include <AP_Param/AP_Param.h>
-#include <AP_SerialManager/AP_SerialManager.h>
-#include <AP_Common/AP_ExpandingArray.h>
+#include <AP_HAL/AP_HAL_Boards.h>
 
-#ifndef HAL_AIS_ENABLED
-#define HAL_AIS_ENABLED !HAL_MINIMIZE_FEATURES
+#ifndef AP_AIS_ENABLED
+#define AP_AIS_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
-#if HAL_AIS_ENABLED
+#if AP_AIS_ENABLED
+
+#include <AP_Param/AP_Param.h>
+#include <AP_SerialManager/AP_SerialManager.h>
+#include <AP_Common/AP_ExpandingArray.h>
 
 #define AIVDM_BUFFER_SIZE 10
 #define AIVDM_PAYLOAD_SIZE 65
@@ -36,6 +38,11 @@ public:
     AP_AIS(const AP_AIS &other) = delete;
     AP_AIS &operator=(const AP_AIS&) = delete;
 
+    // get singleton instance
+    static AP_AIS *get_singleton() {
+        return _singleton;
+    }
+
     // return true if AIS is enabled
     bool enabled() const { return AISType(_type.get()) != AISType::NONE; }
 
@@ -131,6 +138,8 @@ private:
     bool _term_is_checksum;         // current term is the checksum
     bool _sentence_valid;           // is current sentence valid so far
     bool _sentence_done;            // true if this sentence has already been decoded
+
+    static AP_AIS *_singleton;
 };
 
-#endif  // HAL_AIS_ENABLED
+#endif  // AP_AIS_ENABLED