mavlink: move OPTICAL_FLOW to streams hpp

Signed-off-by: Antonio Sanjurjo Cortés <74329840+antonio-sc66@users.noreply.github.com>

src/modules/mavlink/mavlink_messages.cpp

@@ -73,7 +73,6 @@
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/input_rc.h>
 #include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/optical_flow.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/sensor_baro.h>
@@ -119,6 +118,7 @@ using matrix::wrap_2pi;
 #include "streams/HIL_STATE_QUATERNION.hpp"
 #include "streams/MOUNT_ORIENTATION.hpp"
 #include "streams/OBSTACLE_DISTANCE.hpp"
+#include "streams/OPTICAL_FLOW.hpp"
 #include "streams/ORBIT_EXECUTION_STATUS.hpp"
 #include "streams/PING.hpp"
 #include "streams/PROTOCOL_VERSION.hpp"
@@ -4062,80 +4062,6 @@ protected:
 	}
 };
 
-class MavlinkStreamOpticalFlowRad : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamOpticalFlowRad::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "OPTICAL_FLOW_RAD";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamOpticalFlowRad(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
-	}
-
-private:
-	uORB::Subscription _flow_sub{ORB_ID(optical_flow)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &) = delete;
-	MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &) = delete;
-
-protected:
-	explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		optical_flow_s flow;
-
-		if (_flow_sub.update(&flow)) {
-			mavlink_optical_flow_rad_t msg{};
-
-			msg.time_usec = flow.timestamp;
-			msg.sensor_id = flow.sensor_id;
-			msg.integrated_x = flow.pixel_flow_x_integral;
-			msg.integrated_y = flow.pixel_flow_y_integral;
-			msg.integrated_xgyro = flow.gyro_x_rate_integral;
-			msg.integrated_ygyro = flow.gyro_y_rate_integral;
-			msg.integrated_zgyro = flow.gyro_z_rate_integral;
-			msg.distance = flow.ground_distance_m;
-			msg.quality = flow.quality;
-			msg.integration_time_us = flow.integration_timespan;
-			msg.sensor_id = flow.sensor_id;
-			msg.time_delta_distance_us = flow.time_since_last_sonar_update;
-			msg.temperature = flow.gyro_temperature;
-
-			mavlink_msg_optical_flow_rad_send_struct(_mavlink->get_channel(), &msg);
-
-			return true;
-		}
-
-		return false;
-	}
-};
-
 class MavlinkStreamNavControllerOutput : public MavlinkStream
 {
 public:
@@ -4325,7 +4251,9 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamRCChannels>(),
 	create_stream_list_item<MavlinkStreamManualControl>(),
 	create_stream_list_item<MavlinkStreamTrajectoryRepresentationWaypoints>(),
+#if defined(OPTICAL_FLOW_HPP)
 	create_stream_list_item<MavlinkStreamOpticalFlowRad>(),
+#endif // OPTICAL_FLOW_HPP
 	create_stream_list_item<MavlinkStreamActuatorControlTarget<0> >(),
 	create_stream_list_item<MavlinkStreamActuatorControlTarget<1> >(),
 #if defined(NAMED_VALUE_FLOAT_HPP)

src/modules/mavlink/streams/OPTICAL_FLOW.hpp

@@ -0,0 +1,113 @@
+/****************************************************************************
+ *
+ *   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 OPTICAL_FLOW_HPP
+#define OPTICAL_FLOW_HPP
+
+#include <uORB/topics/optical_flow.h>
+
+class MavlinkStreamOpticalFlowRad : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamOpticalFlowRad::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "OPTICAL_FLOW_RAD";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_OPTICAL_FLOW_RAD;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamOpticalFlowRad(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		return _flow_sub.advertised() ? (MAVLINK_MSG_ID_OPTICAL_FLOW_RAD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+	}
+
+private:
+	uORB::Subscription _flow_sub{ORB_ID(optical_flow)};
+
+	/* do not allow top copying this class */
+	MavlinkStreamOpticalFlowRad(MavlinkStreamOpticalFlowRad &) = delete;
+	MavlinkStreamOpticalFlowRad &operator = (const MavlinkStreamOpticalFlowRad &) = delete;
+
+protected:
+	explicit MavlinkStreamOpticalFlowRad(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send() override
+	{
+		optical_flow_s flow;
+
+		if (_flow_sub.update(&flow)) {
+			mavlink_optical_flow_rad_t msg{};
+
+			msg.time_usec = flow.timestamp;
+			msg.sensor_id = flow.sensor_id;
+			msg.integrated_x = flow.pixel_flow_x_integral;
+			msg.integrated_y = flow.pixel_flow_y_integral;
+			msg.integrated_xgyro = flow.gyro_x_rate_integral;
+			msg.integrated_ygyro = flow.gyro_y_rate_integral;
+			msg.integrated_zgyro = flow.gyro_z_rate_integral;
+			msg.distance = flow.ground_distance_m;
+			msg.quality = flow.quality;
+			msg.integration_time_us = flow.integration_timespan;
+			msg.sensor_id = flow.sensor_id;
+			msg.time_delta_distance_us = flow.time_since_last_sonar_update;
+			msg.temperature = flow.gyro_temperature;
+
+			mavlink_msg_optical_flow_rad_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // OPTICAL_FLOW_HPP