From d70caeb24b377194277a3347d3c70d9547a3cc52 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 12 May 2017 14:33:42 +0200
Subject: [PATCH] MavlinkParametersManager: remove MavlinkStream inheritance

---
 src/modules/mavlink/mavlink_parameters.cpp | 11 ++----
 src/modules/mavlink/mavlink_parameters.h   | 40 +++++++---------------
 2 files changed, 16 insertions(+), 35 deletions(-)

diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
index def16cf297..95b8772e28 100644
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -49,7 +49,7 @@
 
 #define HASH_PARAM "_HASH_CHECK"
 
-MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkStream(mavlink),
+MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) :
 	_send_all_index(-1),
 	_uavcan_open_request_list(nullptr),
 	_uavcan_waiting_for_request_response(false),
@@ -57,7 +57,8 @@ MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) : MavlinkSt
 	_rc_param_map_pub(nullptr),
 	_rc_param_map(),
 	_uavcan_parameter_request_pub(nullptr),
-	_uavcan_parameter_value_sub(-1)
+	_uavcan_parameter_value_sub(-1),
+	_mavlink(mavlink)
 {
 }
 MavlinkParametersManager::~MavlinkParametersManager()
@@ -77,12 +78,6 @@ MavlinkParametersManager::get_size()
 	return MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 }
 
-unsigned
-MavlinkParametersManager::get_size_avg()
-{
-	return 0;
-}
-
 void
 MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 {
diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h
index 3f6bbc0f73..6fe5b97302 100644
--- a/src/modules/mavlink/mavlink_parameters.h
+++ b/src/modules/mavlink/mavlink_parameters.h
@@ -44,38 +44,27 @@
 #include <systemlib/param/param.h>
 
 #include "mavlink_bridge_header.h"
-#include "mavlink_stream.h"
 #include <uORB/uORB.h>
 #include <uORB/topics/rc_parameter_map.h>
 #include <uORB/topics/uavcan_parameter_request.h>
+#include <drivers/drv_hrt.h>
 
-class MavlinkParametersManager : public MavlinkStream
+class Mavlink;
+
+class MavlinkParametersManager
 {
 public:
-	const char *get_name() const
-	{
-		return MavlinkParametersManager::get_name_static();
-	}
+	explicit MavlinkParametersManager(Mavlink *mavlink);
+	~MavlinkParametersManager();
 
-	static const char *get_name_static()
-	{
-		return "PARAM_VALUE";
-	}
-
-	uint16_t get_id()
-	{
-		return MAVLINK_MSG_ID_PARAM_VALUE;
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkParametersManager(mavlink);
-	}
+	/**
+	 * Handle sending of messages. Call this regularly at a fixed frequency.
+	 * @param t current time
+	 */
+	void send(const hrt_abstime t);
 
 	unsigned get_size();
 
-	unsigned get_size_avg();
-
 	void handle_message(const mavlink_message_t *msg);
 
 private:
@@ -86,11 +75,6 @@ private:
 	MavlinkParametersManager &operator = (const MavlinkParametersManager &);
 
 protected:
-	explicit MavlinkParametersManager(Mavlink *mavlink);
-	~MavlinkParametersManager();
-
-	void send(const hrt_abstime t);
-
 	/// send a single param if a PARAM_REQUEST_LIST is in progress
 	/// @return true if a parameter was sent
 	bool send_one();
@@ -119,4 +103,6 @@ protected:
 
 	orb_advert_t _uavcan_parameter_request_pub;
 	int _uavcan_parameter_value_sub;
+
+	Mavlink *_mavlink;
 };