Use a service locator instead of passing around subsets of drivers between FSMs

4 files changed, 11 insertions, 15 deletions

diff --git a/src/drivers/include/display.hpp b/src/drivers/include/display.hpp
index 77165c99..766fc4ea 100644
--- a/src/drivers/include/display.hpp
+++ b/src/drivers/include/display.hpp
@@ -30,10 +30,10 @@ class Display {
    * over SPI. This never fails, since unfortunately these display don't give
    * us back any kind of signal to tell us we're actually using them correctly.
    */
-  static auto Create(IGpios* expander,
+  static auto Create(IGpios& expander,
                      const displays::InitialisationData& init_data) -> Display*;
 
-  Display(IGpios* gpio, spi_device_handle_t handle);
+  Display(IGpios& gpio, spi_device_handle_t handle);
   ~Display();
 
   auto SetDisplayOn(bool) -> void;
@@ -49,7 +49,7 @@ class Display {
   Display& operator=(const Display&) = delete;
 
  private:
-  IGpios* gpio_;
+  IGpios& gpio_;
   spi_device_handle_t handle_;
 
   std::unique_ptr<tasks::Worker> worker_task_;
diff --git a/src/drivers/include/i2s_dac.hpp b/src/drivers/include/i2s_dac.hpp
index c7faed2f..6bc5b6a4 100644
--- a/src/drivers/include/i2s_dac.hpp
+++ b/src/drivers/include/i2s_dac.hpp
@@ -33,9 +33,9 @@ namespace drivers {
  */
 class I2SDac {
  public:
-  static auto create(IGpios* expander) -> std::optional<I2SDac*>;
+  static auto create(IGpios& expander) -> std::optional<I2SDac*>;
 
-  I2SDac(IGpios* gpio, i2s_chan_handle_t i2s_handle);
+  I2SDac(IGpios& gpio, i2s_chan_handle_t i2s_handle);
   ~I2SDac();
 
   auto Start() -> void;
@@ -69,7 +69,7 @@ class I2SDac {
   I2SDac& operator=(const I2SDac&) = delete;
 
  private:
-  IGpios* gpio_;
+  IGpios& gpio_;
   i2s_chan_handle_t i2s_handle_;
   bool i2s_active_;
   StreamBufferHandle_t buffer_;
diff --git a/src/drivers/include/relative_wheel.hpp b/src/drivers/include/relative_wheel.hpp
index 5e801aba..b5532a4c 100644
--- a/src/drivers/include/relative_wheel.hpp
+++ b/src/drivers/include/relative_wheel.hpp
@@ -20,11 +20,7 @@ namespace drivers {
 
 class RelativeWheel {
  public:
-  static auto Create(TouchWheel* touch) -> RelativeWheel* {
-    return new RelativeWheel(touch);
-  }
-
-  explicit RelativeWheel(TouchWheel* touch);
+  explicit RelativeWheel(TouchWheel& touch);
 
   auto Update() -> void;
   auto SetEnabled(bool) -> void;
@@ -37,7 +33,7 @@ class RelativeWheel {
   RelativeWheel& operator=(const RelativeWheel&) = delete;
 
  private:
-  TouchWheel* touch_;
+  TouchWheel& touch_;
 
   bool is_enabled_;
 
diff --git a/src/drivers/include/storage.hpp b/src/drivers/include/storage.hpp
index 65be75f1..0b0cb494 100644
--- a/src/drivers/include/storage.hpp
+++ b/src/drivers/include/storage.hpp
@@ -31,9 +31,9 @@ class SdStorage {
     FAILED_TO_MOUNT,
   };
 
-  static auto Create(IGpios* gpio) -> cpp::result<SdStorage*, Error>;
+  static auto Create(IGpios& gpio) -> cpp::result<SdStorage*, Error>;
 
-  SdStorage(IGpios* gpio,
+  SdStorage(IGpios& gpio,
             sdspi_dev_handle_t handle_,
             std::unique_ptr<sdmmc_host_t> host_,
             std::unique_ptr<sdmmc_card_t> card_,
@@ -50,7 +50,7 @@ class SdStorage {
   SdStorage& operator=(const SdStorage&) = delete;
 
  private:
-  IGpios* gpio_;
+  IGpios& gpio_;
 
   // SPI and SD driver info
   sdspi_dev_handle_t handle_;