made GPS and INS a static class

src/bin/GPS.hx

@@ -39,7 +39,7 @@ class GPS extends CLIAppBase {
 				handle.writeLine("Accuracy: High");
 			}
 	
-			var ins = INS.instance.getHeading();
+			var ins = INS.getHeading();
 			if (ins != null) {
 				handle.writeLine('INS heading: ${ins.x} y:${ins.y} z:${ins.z}');
 			} else {
@@ -61,7 +61,7 @@ class GPS extends CLIAppBase {
 		});
 
 		registerAsyncSubcommand("ins",(args)->{
-			return INS.instance.align().map((_)->{
+			return INS.align().map((_)->{
 				handle.writeLine("INS aligned");
 				return true;
 			});

src/kernel/Init.hx

@@ -38,7 +38,6 @@ class Init {
 		Net.init();
 
 		GPS.init();
-		INS.instance = new INS();
 
 		// Register default terminate handler
 		KernelEvents.onTerminate.handle(_->{

src/kernel/gps/INS.hx

@@ -7,46 +7,39 @@ import lib.Pos3;
 using tink.CoreApi;
 
 class INS {
-	public static var instance:INS;
+	private static var heading: Null<Pos3> = null;
-
+	private static var alingment: Int = 1; // 0 = degraded, 1 = not aligned, 2 = aligned
-	private var heading: Null<Pos3> = null;
-	private var alingment: Int = 1; // 0 = degraded, 1 = not aligned, 2 = aligned
-
-	@:allow(kernel.Init)
-	private function new() {
-
-	}
 
 	@:allow(kernel.turtle.Turtle)
-	private function moveForward() {
+	private static function moveForward() {
 		if (heading == null) {
-			this.alingment = 0;
+			alingment = 0;
 			return;
 		}
 		move(heading);
 	}
 
 	@:allow(kernel.turtle.Turtle)
-	private function moveBackward() {
+	private static function moveBackward() {
 		if (heading == null) {
-			this.alingment = 0;
+			alingment = 0;
 			return;
 		}
 		move(heading.negate());
 	}
 
 	@:allow(kernel.turtle.Turtle)
-	private function moveUp() {
+	private static function moveUp() {
 		move({x: 0, y: 1, z: 0});
 	}
 
 	@:allow(kernel.turtle.Turtle)
-	private function moveDown() {
+	private static function moveDown() {
 		move({x: 0, y: -1, z: 0});
 	}
 
 	@:allow(kernel.turtle.Turtle)
-	private function turnLeft() {
+	private static function turnLeft() {
 		if (heading == null) return;
 		if (heading.x == 0 && heading.z == -1) {
 			heading = {x: -1, y: 0, z: 0};
@@ -60,7 +53,7 @@ class INS {
 	}
 
 	@:allow(kernel.turtle.Turtle)
-	private function turnRight() {
+	private static function turnRight() {
 		if (heading == null) return;
 		if (heading.x == 0 && heading.z == -1) {
 			heading = {x: 1, y: 0, z: 0};
@@ -73,18 +66,18 @@ class INS {
 		}
 	}
 
-	private function move(dir: Null<Pos3>) {
+	private static function move(dir: Null<Pos3>) {
 		Log.debug('INS move: $dir');
 		var pos = GPS.getPosition();
 		var newPos = pos + dir;
 		GPS.setINSPosition(newPos);
 	}
 
-	public function getHeading():Null<Pos3> {
+	public static function getHeading():Null<Pos3> {
 		return heading;
 	}
 
-	public function align(): Promise<Noise> {
+	public static function align(): Promise<Noise> {
 		Log.info("Aligning INS");
 		return new Promise<Noise>((resolve,reject)->{
 
@@ -118,14 +111,14 @@ class INS {
 						return;
 					}
 
-					var heading = calcHeading(pos1,pos2,moved);
+					var cHeading = calcHeading(pos1,pos2,moved);
-					if (heading == null) {
+					if (cHeading == null) {
 						Log.error("Can't calculate heading");
 						reject(new Error("Can't calculate heading"));
 						return;
 					}
 
-					this.heading = heading;
+					heading = cHeading;
 					moveBack(moved);
 					GPS.setINSPosition(pos1);
 
@@ -138,7 +131,7 @@ class INS {
 	}
 
 	// -1 = not moved, 0 = back, 1 = forward, 2 = left, 3 = right
-	private function tryMoving():Int {
+	private static function tryMoving():Int {
 		if (Turtle.instance.back().isSuccess()) {
 			return 0;
 		} else if (Turtle.instance.forward().isSuccess()) {
@@ -156,7 +149,7 @@ class INS {
 		}
 	}
 
-	private function calcHeading(pos1: Pos3,pos2:Pos3,moved:Int): Null<Pos3> {
+	private static function calcHeading(pos1: Pos3,pos2:Pos3,moved:Int): Null<Pos3> {
 		if (moved == 0) {
 			return pos1 - pos2;
 		} else if (moved == 1) {
@@ -170,7 +163,7 @@ class INS {
 		}
 	}
 
-	private function moveBack(moved:Int) {
+	private static function moveBack(moved:Int) {
 		if (moved == 0) {
 			Turtle.instance.forward();
 			// cc.Turtle.forward();
@@ -190,7 +183,7 @@ class INS {
 		}
 	}
 
-	private function rotatePos3ToRight(pos:Pos3):Pos3 {
+	private static function rotatePos3ToRight(pos:Pos3):Pos3 {
 		if (pos.x == 0 && pos.z == -1) {
 			return {x: 1, y: 0, z: 0};
 		} else if (pos.x == -1 && pos.z == 0) {
@@ -204,7 +197,7 @@ class INS {
 		}
 	}
 
-	private function rotatePos3ToLeft(pos3:Pos3):Pos3 {
+	private static function rotatePos3ToLeft(pos3:Pos3):Pos3 {
 		return rotatePos3ToRight(rotatePos3ToRight(rotatePos3ToRight(pos3)));
 	}
 

src/kernel/turtle/Turtle.hx

@@ -36,42 +36,42 @@ class Turtle {
 	public function forward():Outcome<Noise, String> {
 		var r = cc.Turtle.forward();
 		var r2 = conterToOutcome(r);
-		if (r2.isSuccess()) INS.instance.moveForward();
+		if (r2.isSuccess()) INS.moveForward();
 		return r2;
 	}
 
 	public function back():Outcome<Noise, String> {
 		var r = cc.Turtle.back();
 		var r2 = conterToOutcome(r);
-		if (r2.isSuccess()) INS.instance.moveBackward();
+		if (r2.isSuccess()) INS.moveBackward();
 		return r2;
 	}
 
 	public function up():Outcome<Noise, String> {
 		var r = cc.Turtle.up();
 		var r2 = conterToOutcome(r);
-		if (r2.isSuccess()) INS.instance.moveUp();
+		if (r2.isSuccess()) INS.moveUp();
 		return r2;
 	}
 
 	public function down():Outcome<Noise, String> {
 		var r = cc.Turtle.down();
 		var r2 = conterToOutcome(r);
-		if (r2.isSuccess()) INS.instance.moveDown();
+		if (r2.isSuccess()) INS.moveDown();
 		return r2;
 	}
 
 	public function turnLeft():Outcome<Noise, String> {
 		var r = cc.Turtle.turnLeft();
 		var r2 = conterToOutcome(r);
-		if (r2.isSuccess()) INS.instance.turnRight();
+		if (r2.isSuccess()) INS.turnRight();
 		return r2;
 	}
 
 	public function turnRight():Outcome<Noise, String> {
 		var r = cc.Turtle.turnRight();
 		var r2 = conterToOutcome(r);
-		if (r2.isSuccess()) INS.instance.turnRight();
+		if (r2.isSuccess()) INS.turnRight();
 		return r2;
 	}