mavlink: move OBSTACLE_DISTANCE stream to separate file

src/modules/mavlink/mavlink_messages.cpp

@@ -79,7 +79,6 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/mavlink_log.h>
 #include <uORB/topics/mount_orientation.h>
-#include <uORB/topics/obstacle_distance.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/orbit_status.h>
 #include <uORB/topics/position_controller_status.h>
@@ -121,6 +120,7 @@ using matrix::wrap_2pi;
 #include "streams/EXTENDED_SYS_STATE.hpp"
 #include "streams/FLIGHT_INFORMATION.hpp"
 #include "streams/HIGH_LATENCY2.hpp"
+#include "streams/OBSTACLE_DISTANCE.hpp"
 #include "streams/PROTOCOL_VERSION.hpp"
 #include "streams/RAW_RPM.hpp"
 #include "streams/STORAGE_INFORMATION.hpp"
@@ -5158,77 +5158,6 @@ protected:
 	}
 };
 
-class MavlinkStreamObstacleDistance : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamObstacleDistance::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "OBSTACLE_DISTANCE";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_OBSTACLE_DISTANCE;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamObstacleDistance(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _obstacle_distance_fused_sub.advertised() ? (MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN +
-				MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
-	}
-
-private:
-	uORB::Subscription _obstacle_distance_fused_sub{ORB_ID(obstacle_distance_fused)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamObstacleDistance(MavlinkStreamObstacleDistance &) = delete;
-	MavlinkStreamObstacleDistance &operator = (const MavlinkStreamObstacleDistance &) = delete;
-
-protected:
-	explicit MavlinkStreamObstacleDistance(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		obstacle_distance_s obstacle_distance;
-
-		if (_obstacle_distance_fused_sub.update(&obstacle_distance)) {
-			mavlink_obstacle_distance_t msg{};
-
-			msg.time_usec = obstacle_distance.timestamp;
-			msg.sensor_type = obstacle_distance.sensor_type;
-			memcpy(msg.distances, obstacle_distance.distances, sizeof(msg.distances));
-			msg.increment = 0;
-			msg.min_distance = obstacle_distance.min_distance;
-			msg.max_distance = obstacle_distance.max_distance;
-			msg.angle_offset = obstacle_distance.angle_offset;
-			msg.increment_f = obstacle_distance.increment;
-			msg.frame = obstacle_distance.frame;
-
-			mavlink_msg_obstacle_distance_send_struct(_mavlink->get_channel(), &msg);
-
-			return true;
-		}
-
-		return false;
-	}
-};
-
 static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamHeartbeat>(),
 	create_stream_list_item<MavlinkStreamStatustext>(),
@@ -5293,7 +5222,9 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamGroundTruth>(),
 	create_stream_list_item<MavlinkStreamPing>(),
 	create_stream_list_item<MavlinkStreamOrbitStatus>(),
+#if defined(OBSTACLE_DISTANCE_HPP)
 	create_stream_list_item<MavlinkStreamObstacleDistance>(),
+#endif // OBSTACLE_DISTANCE_HPP
 #if defined(ESC_INFO_HPP)
 	create_stream_list_item<MavlinkStreamESCInfo>(),
 #endif // ESC_INFO_HPP

src/modules/mavlink/streams/OBSTACLE_DISTANCE.hpp

@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef OBSTACLE_DISTANCE_HPP
+#define OBSTACLE_DISTANCE_HPP
+
+#include <uORB/topics/obstacle_distance.h>
+
+class MavlinkStreamObstacleDistance : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamObstacleDistance(mavlink); }
+
+	static constexpr const char *get_name_static() { return "OBSTACLE_DISTANCE"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_OBSTACLE_DISTANCE; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _obstacle_distance_fused_sub.advertised() ? (MAVLINK_MSG_ID_OBSTACLE_DISTANCE_LEN +
+				MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+	}
+
+private:
+	explicit MavlinkStreamObstacleDistance(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _obstacle_distance_fused_sub{ORB_ID(obstacle_distance_fused)};
+
+	bool send() override
+	{
+		obstacle_distance_s obstacle_distance;
+
+		if (_obstacle_distance_fused_sub.update(&obstacle_distance)) {
+			mavlink_obstacle_distance_t msg{};
+
+			msg.time_usec = obstacle_distance.timestamp;
+			msg.sensor_type = obstacle_distance.sensor_type;
+			memcpy(msg.distances, obstacle_distance.distances, sizeof(msg.distances));
+			msg.increment = 0;
+			msg.min_distance = obstacle_distance.min_distance;
+			msg.max_distance = obstacle_distance.max_distance;
+			msg.angle_offset = obstacle_distance.angle_offset;
+			msg.increment_f = obstacle_distance.increment;
+			msg.frame = obstacle_distance.frame;
+
+			mavlink_msg_obstacle_distance_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // OBSTACLE_DISTANCE_HPP