From e6c3b29aa6f398a58a78e78300397bebc1bae6f6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 12 May 2017 14:28:13 +0200
Subject: [PATCH] MavlinkFTP: remove MavlinkStream inheritance

---
 src/modules/mavlink/mavlink_ftp.cpp  | 22 ++--------------------
 src/modules/mavlink/mavlink_ftp.h    | 22 +++++++++++-----------
 src/modules/mavlink/mavlink_stream.h |  1 -
 3 files changed, 13 insertions(+), 32 deletions(-)

diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index e4b542d3b6..75986c2c8a 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -49,10 +49,10 @@
 //#define MAVLINK_FTP_DEBUG
 
 MavlinkFTP::MavlinkFTP(Mavlink *mavlink) :
-	MavlinkStream(mavlink),
 	_session_info{},
 	_utRcvMsgFunc{},
-	_worker_data{}
+	_worker_data{},
+	_mavlink(mavlink)
 {
 	// initialize session
 	_session_info.fd = -1;
@@ -63,18 +63,6 @@ MavlinkFTP::~MavlinkFTP()
 
 }
 
-const char *
-MavlinkFTP::get_name() const
-{
-	return "MAVLINK_FTP";
-}
-
-uint16_t
-MavlinkFTP::get_id()
-{
-	return MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL;
-}
-
 unsigned
 MavlinkFTP::get_size()
 {
@@ -86,12 +74,6 @@ MavlinkFTP::get_size()
 	}
 }
 
-MavlinkStream *
-MavlinkFTP::new_instance(Mavlink *mavlink)
-{
-	return new MavlinkFTP(mavlink);
-}
-
 #ifdef MAVLINK_FTP_UNIT_TEST
 void
 MavlinkFTP::set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, void *worker_data)
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index 685a29ebdf..218161e6ac 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -40,21 +40,25 @@
 #include <queue.h>
 
 #include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
 
-#include "mavlink_stream.h"
 #include "mavlink_bridge_header.h"
 
 class MavlinkFtpTest;
+class Mavlink;
 
 /// MAVLink remote file server. Support FTP like commands using MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL message.
-class MavlinkFTP : public MavlinkStream
+class MavlinkFTP
 {
 public:
-	/// @brief Constructor is only public so unit test code can new objects.
 	MavlinkFTP(Mavlink *mavlink);
 	~MavlinkFTP();
 
-	static MavlinkStream *new_instance(Mavlink *mavlink);
+	/**
+	 * Handle sending of messages. Call this regularly at a fixed frequency.
+	 * @param t current time
+	 */
+	void send(const hrt_abstime t);
 
 	/// Handle possible FTP message
 	void handle_message(const mavlink_message_t *msg);
@@ -115,10 +119,7 @@ public:
 		kErrUnknownCommand		///< Unknown command opcode
 	};
 
-	// MavlinkStream overrides
-	virtual const char *get_name(void) const;
-	virtual uint16_t get_id(void);
-	virtual unsigned get_size(void);
+	unsigned get_size();
 
 private:
 	char		*_data_as_cstring(PayloadHeader *payload);
@@ -145,9 +146,6 @@ private:
 	uint8_t _getServerComponentId(void);
 	uint8_t _getServerChannel(void);
 
-	// Overrides from MavlinkStream
-	virtual void send(const hrt_abstime t);
-
 	static const char	kDirentFile = 'F';	///< Identifies File returned from List command
 	static const char	kDirentDir = 'D';	///< Identifies Directory returned from List command
 	static const char	kDirentSkip = 'S';	///< Identifies Skipped entry from List command
@@ -169,6 +167,8 @@ private:
 	ReceiveMessageFunc_t	_utRcvMsgFunc;	///< Unit test override for mavlink message sending
 	void			*_worker_data;	///< Additional parameter to _utRcvMsgFunc;
 
+	Mavlink *_mavlink;
+
 	/* do not allow copying this class */
 	MavlinkFTP(const MavlinkFTP &);
 	MavlinkFTP operator=(const MavlinkFTP &);
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index 5a69a6d79d..8b3ec4617f 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -44,7 +44,6 @@
 #include <drivers/drv_hrt.h>
 
 class Mavlink;
-class MavlinkStream;
 
 class MavlinkStream
 {