From 462d67f2b6ef9bbbdf4d7d984091c43f4d50439f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sat, 20 Feb 2021 14:01:22 -0500
Subject: [PATCH] mavlink: move TIMESYNC to separate stream header

---
 src/modules/mavlink/mavlink_messages.cpp | 58 +------------------
 src/modules/mavlink/streams/TIMESYNC.hpp | 71 ++++++++++++++++++++++++
 2 files changed, 74 insertions(+), 55 deletions(-)
 create mode 100644 src/modules/mavlink/streams/TIMESYNC.hpp

diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 7429d162c0..ae5d3b5705 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -135,6 +135,7 @@ using matrix::wrap_2pi;
 #include "streams/STATUSTEXT.hpp"
 #include "streams/STORAGE_INFORMATION.hpp"
 #include "streams/SYSTEM_TIME.hpp"
+#include "streams/TIMESYNC.hpp"
 #include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
 #include "streams/VIBRATION.hpp"
 #include "streams/WIND_COV.hpp"
@@ -1593,61 +1594,6 @@ protected:
 };
 #endif
 
-class MavlinkStreamTimesync : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamTimesync::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "TIMESYNC";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_TIMESYNC;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamTimesync(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return MAVLINK_MSG_ID_TIMESYNC_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-	}
-
-private:
-	/* do not allow top copying this class */
-	MavlinkStreamTimesync(MavlinkStreamTimesync &) = delete;
-	MavlinkStreamTimesync &operator = (const MavlinkStreamTimesync &) = delete;
-
-protected:
-	explicit MavlinkStreamTimesync(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		mavlink_timesync_t msg{};
-
-		msg.tc1 = 0;
-		msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds
-
-		mavlink_msg_timesync_send_struct(_mavlink->get_channel(), &msg);
-
-		return true;
-	}
-};
-
 class MavlinkStreamCameraTrigger : public MavlinkStream
 {
 public:
@@ -1865,7 +1811,9 @@ static const StreamListItem streams_list[] = {
 #if defined(SYSTEM_TIME_HPP)
 	create_stream_list_item<MavlinkStreamSystemTime>(),
 #endif // SYSTEM_TIME_HPP
+#if defined(TIMESYNC_HPP)
 	create_stream_list_item<MavlinkStreamTimesync>(),
+#endif // TIMESYNC_HPP
 #if defined(GLOBAL_POSITION_INT_HPP)
 	create_stream_list_item<MavlinkStreamGlobalPositionInt>(),
 #endif // GLOBAL_POSITION_INT_HPP
diff --git a/src/modules/mavlink/streams/TIMESYNC.hpp b/src/modules/mavlink/streams/TIMESYNC.hpp
new file mode 100644
index 0000000000..0c52a8b434
--- /dev/null
+++ b/src/modules/mavlink/streams/TIMESYNC.hpp
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 TIMESYNC_HPP
+#define TIMESYNC_HPP
+
+#include <drivers/drv_hrt.h>
+
+class MavlinkStreamTimesync : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamTimesync(mavlink); }
+
+	static constexpr const char *get_name_static() { return "TIMESYNC"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_TIMESYNC; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_TIMESYNC_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+private:
+	explicit MavlinkStreamTimesync(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	bool send() override
+	{
+		mavlink_timesync_t msg{};
+
+		msg.tc1 = 0;
+		msg.ts1 = hrt_absolute_time() * 1000; // boot time in nanoseconds
+
+		mavlink_msg_timesync_send_struct(_mavlink->get_channel(), &msg);
+
+		return true;
+	}
+};
+
+#endif // TIMESYNC_HPP