mavlink: move SERVO_OUTPUT_RAW to separate stream header

src/modules/mavlink/mavlink_messages.cpp

@@ -133,6 +133,7 @@ using matrix::wrap_2pi;
 #include "streams/RAW_RPM.hpp"
 #include "streams/RC_CHANNELS.hpp"
 #include "streams/SCALED_IMU.hpp"
+#include "streams/SERVO_OUTPUT_RAW.hpp"
 #include "streams/STATUSTEXT.hpp"
 #include "streams/STORAGE_INFORMATION.hpp"
 #include "streams/TRAJECTORY_REPRESENTATION_WAYPOINTS.hpp"
@@ -3138,95 +3139,6 @@ protected:
 	}
 };
 
-
-template <int N>
-class MavlinkStreamServoOutputRaw : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamServoOutputRaw<N>::get_name_static();
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		switch (N) {
-		case 0:
-			return "SERVO_OUTPUT_RAW_0";
-
-		case 1:
-			return "SERVO_OUTPUT_RAW_1";
-		}
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamServoOutputRaw<N>(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _act_sub.advertised() ? MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-	}
-
-private:
-	uORB::Subscription _act_sub{ORB_ID(actuator_outputs), N};
-
-	/* do not allow top copying this class */
-	MavlinkStreamServoOutputRaw(MavlinkStreamServoOutputRaw &) = delete;
-	MavlinkStreamServoOutputRaw &operator = (const MavlinkStreamServoOutputRaw &) = delete;
-
-protected:
-	explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		actuator_outputs_s act;
-
-		if (_act_sub.update(&act)) {
-			mavlink_servo_output_raw_t msg{};
-
-			static_assert(sizeof(act.output) / sizeof(act.output[0]) >= 16, "mavlink message requires at least 16 outputs");
-
-			msg.time_usec = act.timestamp;
-			msg.port = N;
-			msg.servo1_raw = act.output[0];
-			msg.servo2_raw = act.output[1];
-			msg.servo3_raw = act.output[2];
-			msg.servo4_raw = act.output[3];
-			msg.servo5_raw = act.output[4];
-			msg.servo6_raw = act.output[5];
-			msg.servo7_raw = act.output[6];
-			msg.servo8_raw = act.output[7];
-			msg.servo9_raw = act.output[8];
-			msg.servo10_raw = act.output[9];
-			msg.servo11_raw = act.output[10];
-			msg.servo12_raw = act.output[11];
-			msg.servo13_raw = act.output[12];
-			msg.servo14_raw = act.output[13];
-			msg.servo15_raw = act.output[14];
-			msg.servo16_raw = act.output[15];
-
-			mavlink_msg_servo_output_raw_send_struct(_mavlink->get_channel(), &msg);
-
-			return true;
-		}
-
-		return false;
-	}
-};
-
 class MavlinkStreamCameraCapture : public MavlinkStream
 {
 public:
@@ -3347,8 +3259,10 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamGimbalDeviceSetAttitude>(),
 #endif
 	create_stream_list_item<MavlinkStreamHomePosition>(),
+#if defined(SERVO_OUTPUT_RAW_HPP)
 	create_stream_list_item<MavlinkStreamServoOutputRaw<0> >(),
 	create_stream_list_item<MavlinkStreamServoOutputRaw<1> >(),
+#endif // SERVO_OUTPUT_RAW_HPP
 #if defined(HIL_ACTUATOR_CONTROLS_HPP)
 	create_stream_list_item<MavlinkStreamHILActuatorControls>(),
 #endif // HIL_ACTUATOR_CONTROLS_HPP

src/modules/mavlink/streams/SERVO_OUTPUT_RAW.hpp

@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   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 SERVO_OUTPUT_RAW_HPP
+#define SERVO_OUTPUT_RAW_HPP
+
+#include <uORB/topics/actuator_outputs.h>
+
+template <int N>
+class MavlinkStreamServoOutputRaw : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamServoOutputRaw<N>(mavlink); }
+
+	static constexpr const char *get_name_static()
+	{
+		switch (N) {
+		case 0:
+			return "SERVO_OUTPUT_RAW_0";
+
+		case 1:
+			return "SERVO_OUTPUT_RAW_1";
+		}
+	}
+
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _act_sub.advertised() ? MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamServoOutputRaw(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _act_sub{ORB_ID(actuator_outputs), N};
+
+	bool send() override
+	{
+		actuator_outputs_s act;
+
+		if (_act_sub.update(&act)) {
+			mavlink_servo_output_raw_t msg{};
+
+			static_assert(sizeof(act.output) / sizeof(act.output[0]) >= 16, "mavlink message requires at least 16 outputs");
+
+			msg.time_usec = act.timestamp;
+			msg.port = N;
+			msg.servo1_raw = act.output[0];
+			msg.servo2_raw = act.output[1];
+			msg.servo3_raw = act.output[2];
+			msg.servo4_raw = act.output[3];
+			msg.servo5_raw = act.output[4];
+			msg.servo6_raw = act.output[5];
+			msg.servo7_raw = act.output[6];
+			msg.servo8_raw = act.output[7];
+			msg.servo9_raw = act.output[8];
+			msg.servo10_raw = act.output[9];
+			msg.servo11_raw = act.output[10];
+			msg.servo12_raw = act.output[11];
+			msg.servo13_raw = act.output[12];
+			msg.servo14_raw = act.output[13];
+			msg.servo15_raw = act.output[14];
+			msg.servo16_raw = act.output[15];
+
+			mavlink_msg_servo_output_raw_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // SERVO_OUTPUT_RAW_HPP